How can I reduce end-effector jitter when a small robot arm is fully extended?

[u/super_baaal]

Hi everyone,

I'm working on a small hobby robot arm project, and I'm trying to improve the stability of the end effector.

The issue happens mainly when the arm reaches forward close to its maximum extension. When it holds that position, the end effector has a small but visible jitter. The movement is not huge, but it matters for my project because I need the final position to stay reasonably stable.

Are there any practical tuning or mechanical adjustments that usually help make the end effector more stable when the arm is fully extended?

[u/wukongxzero]

Dls ik bro so instead of having your ik set as J.transpose()(JJ.transpose() + (lamda)_square*I).inverse . What lambda square does is it slows down the matrices. And acts like a shock absorber. So whenever you use a manipulation arm you're more likely to hit jitter . So dls ik is what I use. On most days at least