T he Jacobian Inverse

J is a 6xn matrix, so how do we invert it?
Use a generalized inverse.
Generalized inverse is not unique. X is a generalized inverse of J if it has some of the following properties:
And it is a pseudoinverse if it has all of them.
Write . The pseudoinverse is unique.

J is a 6xn matrix, so how do we invert it?