SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT

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专利权人:

Inc.;Intuitive Surgical Operations

发明人:

Nitish Swarup,Arjang M. Hourtash

申请号：

US16859892

公开号：

US20200289213A1

申请日:

2020.04.27

申请国别(地区):

US

年份:

2020

代理人:

摘要：

A method of operating a robotic system involves servoing a multitude of joints of the robotic system in a first joint velocity space. The movement of the multitude of joints in the first velocity space moves a remote center or an end effector of the robotic system. The method further involves floating the multitude of joints in a second velocity space. The movement of the multitude of joints in the second velocity space moves the end effector or the remote center, respectively. The method further involves controlling motion of the multitude of joints in a third velocity space. The movement of the multitude of joints in the third velocity space does not move the end effector and does not move the remote center.

来源网站：

中国工程科技知识中心

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http://www.ckcest.cn/home/