Which outcome occurs when a collaborative robot arm's inverse kinematics solution oscillates due to workspace singularity?

💡 Explanation

Unstable motion results because approaching a workspace singularity causes the robot's Jacobian matrix to become ill-conditioned, the mechanism that causes amplified joint velocities for small Cartesian displacements; therefore jerky movements happen, rather than predictable or bounded kinematics, due to PLC/servo control straining.

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