Which risk increases within a robot arm when its inverse kinematics solver uses a Jacobian pseudo-inverse near a singular configuration?

💡 Explanation

Uncontrollable joint velocity amplification risk elevates because the Jacobian pseudo-inverse computation effectively boosts the required joint velocities to execute a Cartesian motion (Singularity Escape), therefore minor Cartesian space errors result in extremely large, and unstable, joint movements, rather than stable control.

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