Patent ID: 9675421
Date: 2017-06-13
CPC Classifications: A61B,B25J,G05B

Claim:
1. A method comprising: receiving a command to move an end effector of a manipulator arm in an end-effector displacement, the manipulator arm including a proximal portion coupled to a base, a distal portion including the end effector, and a plurality of joints between the distal portion and the base, the plurality of joints being operable to allow a range of differing states of the plurality of joints for a given state of the distal portion; designating one or more non-moving joints of the plurality of joints; determining an end-effector-displacing movement of the plurality of joints to effect the end-effector displacement; determining a cancellation movement of the plurality of joints, the cancellation movement corresponding to a non-moving end effector, and the cancellation movement providing a cancellation of joint movement for each of the one or more non-moving joints when the cancellation movement is combined with the end-effector displacing movement; and driving the plurality of joints by combining the end-effector-displacing movement and the cancellation movement to effect the end-effector displacement.