Which precision problem arises when a robotic arm controller executes computationally-optimized inverse kinematic solutions near a singularity?

💡 Explanation

Near configuration singularities, small Cartesian movements result in large joint angle changes via inverse kinematics, causing the joint angle oscillations because the *manipulability ellipsoid* collapses locally; therefore the robot jitters rather than smoothly translating; alternative failures are unrelated.

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