How to get a loop to converge

I am trying to get a loop to converge in Inverse Kinematics. I use this line:

dq=pinv(J_BF_inB(q*b));

where J_BF_inB is a 3X3 matrix and

q, b are 3X1 Matrices

I get error:

Not enough input arguments.

Any suggestions ow to correct?

Answer 1

[Torsten]

And what do you want to get with

J_BF_inB(q*b) 

?

q*b at the first place is undefined. And even if it were defined, what is Matrix(Matrix) ?

Maybe you just mean

dq = pinv(J_BF_inB)

?