🦾 Two-Link Arm Singularity: Jacobian Inverse against Damped Least Squares (2D)

Two identical two-link robot arms reach out along the same line toward full extension. The naive Jacobian-inverse solver demands huge joint speeds near the kinematic singularity while the damped least-squares solver stays calm. Change the reach, speed, damping and speed limit, with five in-page numerical checks.