Patent ID: 8864752

Claim:
A method implemented in a controller for controlling an actuator that is mechanically coupled through a mechanical coupling to a distal joint, wherein the mechanical coupling is characterized by non-idealities, and wherein the distal joint is mechanically coupled to an end effector, so as to control movement of the end effector in a first degree of freedom in response to operator manipulation of an input device, the method comprising: generating a distal joint command by using an end effector command indicative of operator manipulation of the input device; generating a feed-forward command by using at least one of a friction model and a cable compliance model of the mechanical coupling; generating an actuator command by using the distal joint command, the feed-forward command, and information of a state of the distal joint, wherein the information of the state of the distal joint is received from a distal joint sensor disposed proximate to a distal end of the mechanical coupling so as to be proximate to the distal joint relative to the actuator; generating an actuator feedback by using the actuator command and information of a state of the actuator, wherein the information of the state of the actuator is received from a local sensor disposed proximate to a proximate end of the mechanical coupling so as to be proximate to the actuator relative to the distal joint; and providing the actuator feedback to the actuator so as to cause corresponding changes in the states of the actuator, the distal joint, and the end effector.