Robotic Joint Control

Abstract: ABSTRACT A robotic system comprising: a robot having a base and an arm extending from the base to an attachment for an instrument, the arm comprising n joints, where n > 1, whereby the configuration of the arm can be altered, the arm having a plurality of configurations for a given relationship between the base and the attachment for the instrument, the robot comprising a driver for each joint configured to drive the joint to move and a joint sensor for each joint for sensing a state of the joint; and a control unit configured to: obtain a desired position of the attachment for the instrument; for each of k joints where k < n, obtain a sensed joint state; compare the obtained k sensed joint states to a set of constraint criteria, the set of constraint criteria being indicative of the arm moving from a first configuration towards a second configuration, where movement of the arm is more constrained in the second configuration than in the first configuration; where the obtained k sensed joint states match the set of constraint criteria, determine a magnitude of an adjustment signal configured to slow, halt or reverse movement of the arm towards the second configuration; using the desired position of the attachment for the instrument and the obtained k sensed joint states, determine a direction of the adjustment signal; for each of the n joints, obtain a sensed joint state; using the desired position of the attachment for the instrument, the obtained n sensed joint states and the adjustment signal, determine a set of control signals for controlling the drivers; and drive the joints using the set of control signals. Figure 2

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