   Jacobian Transpose
  Hey GuysI have a question regarding the Jacobian Transpose. I have tested the alogirthm on chains of different sizes. I used chains of 5,10,25,50 joints. I have found that the algorithm's average number of iterations required to reach a target has significantly increased.( The iterations counted are the number of times the process of the algorithm has to be called before a target is reached)This means that the algorithm is less efficient on chains of bigger sizes. Any ideas on why this is happening?   