Robots in LinuxCNC-Singularities

Hey everyone, first a big thanks to the community which has given amazing help to me in order to complete my thesis and a challenging robot configuration in LinuxCNC.

As i was considering my configuration for a Mitsubishi RM501 robotic arm in LinuxCNC some questions arised. Firstly considering how to set elbow up- elbow down configuration and which to choose. The answer came easy by detecting current position and choosing the one closest to it.

The problem I found more challenging is how to deal with singularities. Most commertial controllers detect the jacobian becoming singular (by checking that the determinant getting very small, or the joint speed increment becoming very big and so joint speed rising too fast) and either use psuedo jacobian or just set the joints' speed directly to a certain value(80% of the max joint speed for exampe). In LinuxCNC however what happens?

Jacobian determinant is very taxing to compute every time. So I thought finding singular point in advance. It was a pain but it brought results. So now I know the singularities beforehand and in kinematics file i can check if i'm close to one or not. So my question is this. Can I set the joint speed in a certain value from the kinematics problem for as long as robot is near the singularity? Or do you have in mind another solution?

What you said is one aspect of it but has many implications that make difficult to control the robot. So, say that i have a pose that my robot looks to the left and i want it to move to a symmetrical pose looking to the right. That would make the robot pass through a singularity area which a vertical cylinder in the central axis of the robot.

I checked the pumakins.c and there are appropriate flags PUMA_SINGULAR to check that the puma is at a singular state. But where is this flag fed to and how LinuxCNC uses it? Thats my main concern because i want to replicate its effect for my own application.

Sorry for late answer, i just returned home and thanks for the reply.This is what i noticed too. Maybe the *iflag array is used somehow? I'm buffled.

From what I've seen, linuxcnc has no easy way to handle pose selection or singularities. You'd need to develop it yourself. I've come to the conclusion that it's easier to use proper software for code generation and let linuxcnc handle just the motion control on the joint level. That way it shouldnt run into any singularities and you get better control of what you're actually doing.
I'm finding there's really no good solutions for this robots unfortunately.