Patent ID: 9339346
Filing Date: 2016-05-17
CPC Classification: A61B,B25J,G05B

Claim Text:
1. A system for interacting with an object, said system comprising: a robotic manipulator having a base and a plurality of linkages; a tool coupled to said robotic manipulator and movable relative to said base to interact with the object; a plurality of position sensors associated with said plurality of linkages for providing primary position information at a first frequency; a localizer for providing secondary position information at a second frequency; a position controller configured to position said tool with respect to the object in a first position control mode and a second position control mode based on said primary position information and said secondary position information; and a frequency controller configured to adjust at least one of said first and second frequencies in each of said first and second position control modes so that a difference between said first and second frequencies in said first position control mode is different than a difference between said first and second frequencies in said second position control mode.