Which limitation frequently arises when PLC-controlled robotic arms utilize inverse kinematics for real-time trajectory adjustments, near kinematic singularities?

💡 Explanation

When very slight motion changes cause substantial joint angle adjustments due to proximity to singular configurations, the robot’s inverse kinematics calculations demand considerably more processing, because the Jacobian matrix becomes ill-conditioned, therefore slowing cycle execution, rather than the encoder, power, or noise being directly implicated.

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