hello, I am working on IK of 5Dof robot using Jacobian based method.

I have jacobian of (6x5) and its inverse would be matrix of (5x6) and position vector of size (3x1) . To get the joint variable

xj = J(inverse) x (q)position vector

that would be matrix multiplication of (5x6) x (3X1) but its not possible.

how would I solve this problem??

thank you.