Singularity ... again

In my new scara project return the old problem ... using switchkins with Mxx code and auto-learning point system with joistyk manual moove, i have some problem when eblow reach singularity or out of range point oa a nearest too .... become extremely nervous and sometime stop because reach velocity limit ... you probabily know .... if you nto implement a system for smoot velocity and acceleration when reach point near external area of eblow ... robot can have some problem.

These problem was for long time uninvestigate from me .... and non find my old link for start to study new kinematics for solve these problem. 
Could some good soul show me the way to understand what to introduce in the kinematics to solve the problem? I remember Andy had suggested to introduce limit3 but I don't remember if it was the best solution and if there were others.

regards

thnks Andy ... two directions is needed .... think is not a problem if we reach max radius .... but with limit in acceleration ....

Normally I use switchkins of dgarret .... sometime my modify ... but after switching to joint never try to change singularity on fly .... switchkins too need a no moove to perform the switch, and need to return to same pos for switch again to world mode .... I can switch to joint mode, go to position on joint mode than switch singularity?? at that point I'm in joint mode .... if change singularity and switch to world again can I have some problem in your consideration? I think not but maybe I'm in wrong.

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 .....

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