In both cases, you have to transform between the goal in operational space (e.g. end effector pose) and the joint positions. One drawback of using the Jacobian

In both cases, you have to transform between the goal in operational space (e.g. end effector pose) and the joint positions. One drawback of using the Jacobian inverse approach for control is that command values can get arbitrarily large in singular configurations (of course there are more advanced techniques to handle these cases).