# how to find Singularity and jacobian Inverseof 5 DOF Robotic arm?

I am working on calculating the Jacobian Determinant to find the singularity of my 5 DOF Robotic arm, I have calculated the jacobian matrix, and the matrix I got is a very large value As it is non square matrix(6x5),For singularity I am using Pseudo Inverse method( I studied in a Research Paper) Jinv=(Jtrans)(Inverse(JJtrans)) But In Matlab when I calculate the Inverse of (J*Jtrans) It goes Out Of memory, what is the alternate or right method to do that I know It is not the Matlab forum but I want to know is that right jacobian matrices Or I am doing some thing wrong in calculating the jacobian( as being very large matrice) I am also attaching the code am using

• I am having issue with understanding the objective here. Because if you are trying to understand why you are getting a singularity, then it's probably because your robot is underactuated. If you still want to invert your jacobian, can't you just augment your Jacobian, by removing the specific DoF your robot can't achieve? I'm thinking something like from this link: robotacademy.net.au/lesson/jacobian-and-number-of-robot-joints alternatively, you could maybe check "pseudo damped inverse jacobian" methods. Dec 12, 2020 at 16:10
• I want to find the singularity if any, simply I want to find the determinant and inverse, Dec 14, 2020 at 4:42