Is the path planning for industrial Scara robot in task space or in joint space for? In addition; if it is in task space how I can avoid the singularity?
In general, for any arm manipulator, you know what you want to do in task space, so you do planning in task space (taking into considerations maximum end effector speed, position, etc. and to do obstacle avoidance in case there is any in its available workspace). Then using the inverse kinematic relation you get the corresponding joint space commands, to avoid singularity, you can use the damped pseudo inverse.