I created a simple SCARA robot in CAD, pulled it into Blender, rigged it, and animated it. Origins are set, bones are constrained and work correctly, (including bone rotation constraints on the joints that match the real world robot this is emulating), all that is good.
My problem is, this type of robot can (and needs to) work in both a "left arm" and "right arm" configuration. As you can see in the video, there is a "glitch" when the third joint wants to pass under the second joint. The animation math forces the third joint to swing all the way around in the wrong direction, and then continues.
If there are any recommendations about how to control this movement, I would appreciate your guidance.