I have a 6 DOF arm whose velocities I'm controlling as a function of force applied to the end effector. The software for the robot allows me to input either the desired end effector velocity or the desired joint angular velocities, which I know can be found using the inverse Jacobian.
Are there any benefits of using one scheme over the other? Would, for example, one help avoid singularities better? Does one lead to more accurate control than the other does?