Singularity ... again

other little things .... some year ago on youtube and in the forum too I see some guys that active freedrive mode on a robot arm ... but not find any in the forum now .... and in youtube not know how i search for find somethings (i'm italian and not know all american world for make an intelligent search) ...and i'm not sure but i seem to remember you had chimed in on the matter for some reason....but i didn't care about those things at the time so i didn't save anything and i remember very badly.
Thanks for your patience .....

I have never used non-trivial kins, so bear that in mind when considering my ideas.

I think that your scarakins could have a HAL pin telling it which side of the "elbow" you want to work.

Then an M-code could:
1) Switch to joint mode
2) Switch inver the elbow
3) Set the HAL on so that the kins module now calculates the opposite way.

This does _not_ solve the issue of jogging to the singularity.
It does need you to actively choose the elbow orientation in the `g-code.

I rather suspect that this is close to what the commercial systems do, though they might have clever logic to detect when the flip is needed.

in fact all this could be done automatically ... I don't remember if swtch case statement can be used in the kinematics file successfully .... if else for sure .... in any case thanks I will follow this logic.

having said that you really don't remember anything about the balancing of the joints .... for sure you have to do a pair driving and then use a physical switch to subtract the additional force .... having said that there is a way to make a change of type of piloting? switch for example from position mode to torque mode?

regards

Kinematics modules can create HAL pins, and you could use a HAL pin to tell the kins which solution to use.

rewamp these discussion .... after some view of you tube an use of some commercial robot ... think normally singularity transparent robot think normally stay on joint move and only occasionally go to coordinates mode .... so problem become operate normally with gcode in joint mode and than switch to world .... that is completely inverse mode of cartesian robot. .....

regards

Yes, that is why 'switchable kinematics' is such an important feature of linuxcnc. It let's you do exactly that, switch between joint/cartesian kinematics in Gcode.