One solution overcoming the problem of inverting differential kinematics in the neighborhood of a singularity is provided by the so-called damped least-squares (DLS) inverse J* = J (JJ + k1)- where k is a damping factor that renders the inversion better conditioned from a numerical viewpoint. The problem is that to invert differential kinematics ve = Ja by tolerating a finite error e, i.e., Ve- Ja = e. Find the solution by minimizing the cost functional 1 1 9(q ) = kqq +