function [Jinv] = JacobianInv_robonuc_aprox2(Q)
%UNTITLED7 Summary of this function goes here
%   Detailed explanation goes here
J=Jacobian_robonuc_aprox2(Q);

Jinv=pinv(J);
% a=det(J);
% 
% if a==0
%     Jinv=NaN;
% else
%     Jinv=inv(J);
% end

end

