Most times the light is good enough for handheld. Sometimes there's no chance, and you need a tripod on the ground. But in between is that zone that's too often dominated by shoot and pray.
The Pulitzer Prize winning photographer, Gary Parker, passed along some advice to photographer Ron Martinsen about how to steady your camera using a tabletop tripod. Martinsen, in turn, did a YouTube video to demonstrate it. And that's the video I've embedded above.
This works really well.
Parker and Martinson both used the Leica tripod and ball head, but it can probably work with a few different products.