Paul GRIFFITHS,Paul MOHR,Nitish SWARUP,Michael COSTA,David LARKIN,Thomas COOPER,Michael HANUSCHIK
申请号：
US16842592
公开号：
US20200229883A1
申请日:
2020.04.07
申请国别(地区):
US
年份:
2020
代理人:
摘要：
Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode, transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure, establish a desired reference location of a link relative to a portion of the kinematic structure, detect an error between an actual reference location of the link relative to the portion and the desired reference location of the link, and drive the kinematic structure so as to decrease the error. The link is distal to the portion on the kinematic structure. The error is due to manual movement of the link.
