ABSTRACT

Jacobian inverse control one of the Cartesian-based control schemes. The Jacobian inverse control is presented in the figure. In this scheme, the end-effector location in the operational space is compared with desired quantity and an error ΔX is computed. Assuming that deviation is small ΔX can be transformed into corresponding joint space deviation, Δq, through the inverse of the manipulator analytical Jacobian. The gains correspond to the joint stiffness, which is constant for each joint. See also Cartesian-based control.