Inverse kinematics (IK) is the use of kinematic equations to determine the joint parameters of
a manipulator so that the end effector moves to a desired position; IK can be applied in many …

One step on the way to approach human performance in robotics is to provide joint torque
sensing and control for better interaction capabilities with the environment, and a large …

Devices, systems, and methods for providing commanded movement of an end effector of a
manipulator while pro viding a desired movement of one or more joints of the manipulator …

Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped
Least Squares methods Page 1 Introduction to Inverse Kinematics with Jacobian Transpose …

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ
surgical robotic linkages that may have more degrees of freedom than an associated …

The present invention generally provides improved Surgi cal and robotic devices, systems,
and methods. Minimally invasive medical techniques are aimed at reduc ing the amount of …

Telerobotic, telesurgical, and/or Surgical robotic devices, sys tems, and methods employ
Surgical robotic linkages that may have more degrees of freedom thananassociated …

Devices, systems, and methods for avoiding collisions between a manipulator arm and an
outer patient surface by moving the manipulator within a null-space. In response to a …

Controlling the robot with a permanently-updated optimal trajectory, also known as model
predictive control, is the Holy Grail of whole-body motion generation. Before obtaining it …

Telerobotic, telesurgical, and/or Surgical robotic devices, sys tems, and methods employ
Surgical robotic linkages that may have more degrees of freedom thananassociated …