The workarounds are designed to solve particular cases. A robot arm in manufacturing is stationary, has a controlled environment, and often a fixed task (or at

The workarounds are designed to solve particular cases. A robot arm in manufacturing is stationary, has a controlled environment, and often a fixed task (or at least task type). The task is know in advance, and humans are involved in developing the solution for each particular task. In an open environment one cannot rely on those things. When the task is not known up-front. Or the new tasks come too quickly for a human to be involved in solving it. Or with influence from other actors, some possibly uncooperative or adversarial. A lot of 6 axis robots actually work in 3D+3D. That is, they position their arm/tooling first into a work pose, then perform their actually work in a 3D space referenced from that point/orientation. Then poses are chosen such that the space it works in is singularity free. And moving between poses there are then explicit solutions (chosen by human) for dealing with singularities.