Resolved Rate Control

A velocity-based control method that uses the Jacobian to map desired Cartesian end-effector velocities to joint velocities: dq = J⁻¹(q) · dx. It is the basis of most teleoperation interfaces where a human specifies Cartesian velocity commands. Near singularities, the Jacobian becomes ill-conditioned; damped least-squares (DLS) or Jacobian transpose methods provide numerical robustness.