Pseudoinverse

The Moore-Penrose pseudoinverse of a matrix A, denoted A⁺, providing the least-norm solution to the linear system Ax = b when A is not square or not full rank. In robotics, the Jacobian pseudoinverse computes joint velocities from desired Cartesian velocities: q̇ = J⁺(q)ẋ. The damped least-squares pseudoinverse adds a damping term near singularities.