Jacobian inverse kinematics. How to do it right

Doing inverse kinematics using Jacobian matrix seems simple at first glance. But implementing it naively can be dangerous. You need to somehow deal with singular and close to singular configurations. Otherwise your robot will go crazy. In this video you will learn how to use the Jacobian method to solve the inverse kinematics problem robustly, so that you could implement it on real robot.
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