Joint Control Unit

Abstract: A control unit for a surgical robot, the surgical robot comprising a joint driven by a drivetrain which transfers power from a drive source to the joint, wherein the control unit is configured to: in dependence on a drive source configuration signal indicating a position of the drive source and a joint configuration signal indicating a position of the joint in the surgical robot, calculate a value of reference torque for the joint using frequency components of the drive source configuration signal that are within a high frequency range and frequency components of the joint configuration signal that are within a low frequency range; and output the value of reference torque to a joint controller for controlling the joint.

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