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What's Wrong with J+?

Fairly slow to compute
- Breville's method: O(m2n) ~57 mults per DOF with m=6
- or JT(JJT)-1 (if JJT nonsingular)

Instability around singularities

The Jacobian loses rank in certain configurations

See IK Applet

http://www.tc.cornell.edu/Visualization/contrib/cs490-96to97/hoffman/

Notes: