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MEDICAL ROBOTIC SYSTEM WITH PROGRAMMABLY CONTROLLED CONSTRAINTS ON ERROR DYNAMICS

  • US 20070151389A1
  • Filed: 12/20/2006
  • Published: 07/05/2007
  • Est. Priority Date: 12/20/2005
  • Status: Active Grant
First Claim
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1. A medical robotic system comprising:

  • a manipulator having a motor driven joint for moving the manipulator; and

    a processor configured to control movement of the joint from a current position to a target position according to a control law from which a motor joint command may be determined using joint feedback and feedforward motor torque terms, wherein the joint feedback motor torque term is computed as a function of at least a position error computed as a difference of the current and target positions, the feedforward joint motor torque term is computed as a function of the joint target position, the feedback motor torque term is limited to a first programmable limit value, and the feedforward motor torque term is limited to a maximum motor torque value.

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