ABSTRACT
Jacobian inverse control one of the Cartesianbased 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 X is computed. Assuming that deviation is small X can be transformed into corresponding joint space deviation, q, 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.
