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.