Which degraded performance results in robotic arms when 'kinematic singularities' arise during complex movements?

💡 Explanation

When a robotic arm nears a kinematic singularity, the Jacobian matrix becomes ill-conditioned, therefore the endpoint loses directional stiffness because the 'force ellipsoid' collapses. This directional weakening occurs at singularities, rather then alternative motor saturation because physical joint position is the constraint.

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