The second phase contains Jacobian matrix inversion and joint angles changes, using equation (7). The next step lies in the repetition of step one and in the change of the end effector position. The obtained differential of the end effector position enters in phase two. The mentioned phases repeat until the error (difference between the current and the desired location of the end effector) comes below a defined value or the maximal number of iteration steps is reached: (Figure 3).