A computer-implemented method for controlling teleoperation of a robotic arm, comprising: providing a robotic arm (20) including a base, a movable distal end effector (21) and a plurality of joints between the base and the movable distal end effector (21); at a computerized system interface (30), receiving a manipulation command from a haptic device (12) disposed in a control console (10) remotely located from the robotic arm (20), to move the end effector (21) with a desired end effector movement; from the manipulation command, calculating an end effector (21) displacement movement of the plurality of joints to execute the desired end effector movement, wherein calculating the end effector (21) displacement movement of the plurality of joints comprises defining a Jacobian matrix for the joints and calculating joint velocities using said Jacobian matrix; and executing the desired end effector movement. A homogeneous damped pseudo-inverse is applied to the Jacobian matrix for the joints, in such a way that all the possible directions of motion are damped by a same factor.
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