Which programming inaccuracy increases when a robotic arm's joint angles, derived via inverse kinematics from the PLC, are near a singularity?

💡 Explanation

A small Cartesian position change necessitates large joint angle adjustments due to the manipulator Jacobian matrix nearing a non-invertible state, therefore increasing the end-effector's positional error, because angular resolutions become proportionally larger, rather than solely effects like motor effort.

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