You have it up-side-down: with ML you can NEVER proove that you won't suffer a gimbal lock or other problem. So if you have a very fast analytical approach you

You have it up-side-down: with ML you can NEVER proove that you won't suffer a gimbal lock or other problem. So if you have a very fast analytical approach you can simulate different paths in a physics simulator on the chip also as a verification step if needed to reject incorrect movements. You could then use ML as a fallback if no fast analytical method works and verify that also a quick on-chip physics sim.