SYSTEMS AND METHODS FOR CANCELLATION OF JOINT MOTION USING NULL-SPACE

摘要

PROBLEM TO BE SOLVED: To provide methods for cancelling movement of one or more joints of a tele-surgical manipulator to effect manipulation movement of an end effector.SOLUTION: The methods include calculating movement of joints within a null-perpendicular space to effect desired end effector movement while calculating movement of one or more locked joints within a null-space to cancel the movement of the locked joints. The methods may further include calculating movement of one or more joints to effect auxiliary or reconfiguration movement that may include movement of one or more locked joints. The auxiliary and reconfiguration movement may be overlaid with manipulation movement of the joints to allow movement of the locked joints to effect the auxiliary or reconfiguration movement while the movement of the locked joints to effect manipulation is canceled.SELECTED DRAWING: Figure 16B