System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
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United States of America Patent
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Mar 6, 2018
Grant Date -
Feb 9, 2017
app pub date -
Aug 12, 2016
filing date -
Sep 17, 1999
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Abstract
Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.
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