What is the best gain tuning method for transpose Jacobian control of robot manipulators?

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Mohamed-Mourad Lafifi

Dear Reza,

I suggest you to see links and attached files in topics.

- Cartesian Control for Robot Manipulators (PDF Download Available)

https://www.researchgate.net/.../221908126_Cartesian_Control_for_Robot_Manipulators

- Analysis and Experimentation of Transpose Jacobian-based ...

journals.cambridge.org/article_S0263574799001198 -

- Adaptive Control of a Serial-in-Parallel Robotic Rehabilitation Device

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3818251/

Best regards

Reza Naghibi

Thank you professor Lafifi , the documents are comprehensive.

Muhammad Shafiq

I think use some adaptive controllers.