Szukana fraza: [Abstract = "The objective of this paper is to present and make a comparative study of several inverse kinematics methods for serial manipulators, based on the Jacobian matrix. Besides the well\-known Jacobian transpose and Jacobian pseudo\-inverse methods, three others, borrowed from numerical analysis, are presented. Among them, two approximation methods avoid the explicit manipulability matrix inversion, while the third one is a slightly modified version of the Levenberg\-Marquardt method \(mLM\)."]

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