Systems and methods for avoiding collisions between manipulator arms using a null-space
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
A61B-019/00
B25J-009/16
출원번호
US-0906819
(2013-05-31)
등록번호
US-9345544
(2016-05-24)
발명자
/ 주소
Hourtash, Arjang M.
Hingwe, Pushkar
Schena, Bruce Michael
Devengenzo, Roman L.
출원인 / 주소
INTUITIVE SURGICAL OPERATIONS, INC.
인용정보
피인용 횟수 :
11인용 특허 :
45
초록▼
Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometrie
Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.
대표청구항▼
1. A robotic method for a robotic system that includes a first manipulator arm and a second manipulator arm, each manipulator arm including a movable distal portion, a proximal portion coupled to an associated base, and a plurality of joints between the distal portion and the base, the plurality of
1. A robotic method for a robotic system that includes a first manipulator arm and a second manipulator arm, each manipulator arm including a movable distal portion, a proximal portion coupled to an associated base, and a plurality of joints between the distal portion and the base, the plurality of joints having a joint space with sufficient degrees of freedom to allow a range of differing joint states of the plurality of joints for a given state of the distal portion of each manipulator arm, and the method comprising: determining a first reference geometry of the first manipulator arm and a second reference geometry of the second manipulator arm, the first and second reference geometries being movable with the associated manipulator arms within a workspace and having ranges of motion that overlap within the workspace;determining a relative state between the first reference geometry and the second reference geometry in the workspace and a desired avoidance vector;calculating an avoidance movement of one or more joints of the pluralities of joints of the first and second manipulator arms so as to maintain a separation between the first and second reference geometries in the workspace, the avoidance movement being based on the desired avoidance vector so that the avoidance movement is contained within a null-space of a Jacobian associated with the respective manipulator arm; anddriving the one or more joints of the pluralities of joints of the first and second manipulator arms according to the calculated avoidance movement. 2. The robotic method of claim 1, wherein the avoidance movement is calculated in response to the determined relative state when the relative state corresponds to a less than desired clearance between the first and second reference geometries, and the calculated avoidance movement along the desired avoidance vector corresponds to an increase in clearance. 3. The robotic method of claim 1, wherein the relative state is determined using three-dimensional coordinates corresponding to the workspace of the manipulator arms. 4. The robotic method of claim 2, wherein the avoidance movement calculation includes converting the desired avoidance vector between the workspace and the joint space of the manipulator arms. 5. The robotic method of claim 1, wherein calculating the avoidance movement comprises: determining nearest points between the first and second reference geometries;calculating an avoidance vector between the nearest points in the workspace of the manipulator arms, the calculated avoidance vector corresponding to the desired avoidance vector;transforming the calculated avoidance vector into a joint velocity space; andprojecting the calculated avoidance vector transformed into the joint velocity space onto the null-space to obtain the avoidance movement. 6. The robotic method of claim 1, wherein calculating the avoidance movement comprises: calculating nearest points between the first and second reference geometries to determine one or more avoidance points on the manipulator arm;determining an avoidance vector between the nearest points in a workspace of the manipulator arms, the avoidance vector in the workspace corresponding to the desired avoidance vector;transforming original null-space basis vectors of the manipulator arm into motion of the one or more avoidance points on the manipulator arm; andcombining the transformed null-space basis vectors with the avoidance vector in the workspace into a coefficient for the original null-space basis vectors to obtain the avoidance movement. 7. The robotic method of claim 2, wherein the relative state is determined using joint sensor data from each of the first and second manipulator arms. 8. The robotic method of claim 2, wherein the first reference geometry includes a line segment corresponding to a structure of the first manipulator arm and the second reference geometry includes a line segment corresponding to a structure of the second manipulator arm. 9. The robotic method of claim 8, wherein each of the first and second reference geometries comprise a plurality of line segments each corresponding to a structure on the respective manipulator arm, and determining the relative state further comprises: determining a line segment of the plurality of line segments of the first reference geometry nearest a line segment of the plurality of line segments of the second reference geometry, the nearest line segments corresponding to nearest structures of the first and second manipulator; andcalculating the desired avoidance vector so as to extend through the nearest line segments. 10. The robotic method of claim 9, wherein determining the nearest line segment comprises calculating the nearest distance between the line segments of the first reference geometry and the second reference geometry. 11. The robotic method of claim 1, wherein calculating the avoidance movement comprises: calculating a repulsion force between the first and second reference geometries sufficient to maintain the separation between the first and second reference geometries when applied in a direction of the desired avoidance vector, andcalculating a movement of the one or more joints of the pluralities of joints of the first and second manipulator arms in response to the repulsion force applied on the first and second manipulator arms along the desired avoidance vector. 12. The robotic method of claim 1, wherein calculating the avoidance movement comprises: calculating a repulsion commanded velocity between the first and second reference geometries sufficient to maintain the separation between the first and second reference geometries when applied in a direction of the desired avoidance vector, andcalculating a movement of the one or more joints of the pluralities of joints of the first and second manipulator arms in response to the repulsion commanded velocity applied at line segments that correspond to structures of the first and second manipulator arms along the desired avoidance vector. 13. The robotic method of claim 11, wherein the repulsion force has a magnitude inversely related to a separation distance between the first and second reference geometries. 14. The robotic method of claim 12, wherein the repulsion commanded velocity has a magnitude inversely related to a separation distance between the first and second reference geometries. 15. The robotic method of claim 1, wherein the first and second manipulator arms have ranges of motion that overlap, and the relative state between the first and second manipulator arms is determined by using proximity sensors mounted on driven linkages of the first and second manipulator arms. 16. The robotic method of claim 1, wherein the relative state between manipulator arms is determined using sensed positional information received from at least one mechanical, optical, ultrasonic, capacitive, inductive, resistive, or joint sensor. 17. The robotic method of claim 1, wherein the avoidance movement is independent of a planar relationship between the first and second manipulator arms when each arm is disposed in a substantially planar configuration, the avoidance movement allowing for an increased range of configurations for each arm while inhibiting collisions between the first and second manipulator arms where their respective ranges of motion overlap. 18. The robotic method of claim 1, wherein determining the relative state between the first and second reference geometries comprises any or all of a relative position, relative velocity and relative acceleration between the first and second reference geometries. 19. The robotic method of claim 1, wherein the distal portion of each arm comprises or is configured to releasably support a surgical instrument having an elongate shaft extending distally to a surgical end effector, wherein each instrument shaft pivots about a remote center during surgery, and wherein the avoidance movement of the one or more joints of the pluralities of joints of the first and second manipulator arms is calculated so as to maintain a position of the remote center during the driving of the one or more joints of the pluralities of joints of the first and second manipulator arms. 20. The robotic method of claim 19, further comprising: receiving a manipulation command to move the end effector of one or both arms with a desired end effector movement;calculating an end effector displacing movement of the joints of the respective arm to effect the desired end effector movement; anddriving the joints according to the calculated end effector displacing movement, wherein calculating the end effector displacing movement of the joints further comprises calculating a movement of the joints within a null-perpendicular space of the Jacobian associated with the respective manipulator arm, the null-perpendicular space being orthogonal to the null-space. 21. The robotic method of claim 1, wherein the robotic system further includes one or more additional manipulator arms, the one or more additional manipulator arms having ranges of motion that overlap, each additional manipulator arm including a movable distal portion, a proximal portion coupled to the base, and a plurality of joints between the distal portion and the base, the plurality of joints having sufficient degrees of freedom to allow a range of differing joint states for a given state of its end effector, and the robotic method further comprises: determining a reference geometry of each of the one or more additional manipulator arms, the reference geometry being movable with the associated additional manipulator arm within the workspace and having ranges of motion that overlap within the work space with that of the first or second manipulator arm; anddetermining a relative state between reference geometries having ranges of motion that overlap, wherein the avoidance movement is calculated so as to maintain a desired distance between the reference geometries of the one or more additional manipulator arms having ranges of motion that overlap. 22. The robotic method of claim 21, wherein calculating the avoidance movement comprises: determining a plurality of avoidance vectors corresponding to the desired avoidance vector, the plurality of avoidance vectors extending between any or all of the reference geometries having ranges of motion that overlap; andcombining the plurality of avoidance vectors to obtain a resultant velocity vector for driving the one or more joints of the pluralities of joints of the first and second manipulator arms so as to simultaneously avoid a collision between the first and second manipulator arms while maintaining a desired state of the distal portion of each manipulator arm. 23. The robotic method of claim 20, wherein each manipulator arm is configured to support a tool having an intermediate portion with the intermediate portion extending along an insertion axis distally of the proximal portion and an end effector at a distal end of each intermediate portion, wherein at least some of the plurality of joints of that manipulator arm mechanically constrain a movement of the distal portion relative to the base such that the distal portion of the respective manipulator arm pivots about a remote center disposed extending through the insertion axis to facilitate a movement of the end effector at a work site, wherein the work site is accessed through an insertion opening. 24. The robotic method of claim 23, wherein the plurality of the joints of each manipulator arm comprises remote spherical center joints disposed distally of the proximal portion and proximally of the distal portion of the respective manipulator arm, wherein the remote spherical center joints are mechanically constrained so that articulation of the remote spherical center joints pivot the distal portion of the respective manipulator arm about first, second, and third remote center axes, the first, second, and third remote center axes intersecting its remote center. 25. The robotic method of claim 23, wherein the proximal portion of each manipulator arm is mechanically constrained relative to the base such that its distal portion pivots about its remote center when the proximal portion moves. 26. The robotic method of claim 23, wherein the the plurality of joints of each manipulator includes a revolute joint near a distal portion of that manipulator arm that pivots the insertion axis about an axis of the distal revolute joint, the axis extending through the remote center. 27. The robotic method of claim 26, wherein the end effector displacing movement is calculated so that the distal revolute joint is not driven. 28. The robotic method of claim 26, wherein the end effector displacing movement is calculated so that the distal revolute joint is not driven to effect a desired distal portion displacing movement. 29. The robotic method of claim 27, wherein the avoidance movement of the one or more joints of the pluralities of joints of the first and second manipulator arms is calculated so as to drive at least the distal revolute joint of one or more manipulator arms. 30. The robotic method of claim 23, wherein a first joint of the plurality of joints of each manipulator arm couples the proximal portion to the base, and an intermediate link is disposed proximal of and adjacent to the distal portion with a second joint therebetween, the second joint comprising a revolute joint mechanically constraining a movement of the distal portion relative to the intermediate link to rotation about a second joint axis, the second joint axis extending from the second joint distally toward the intermediate portion axis so as to intersect the insertion axis through the remote center. 31. The robotic method of claim 30, wherein the end effector displacing movement is calculated so that the second joint is not driven, and wherein the avoidance movement of the one or more joints of the pluralities of joints of the first and second manipulator arms is calculated to include driving of the second joint of one or more manipulator arms. 32. The robotic method of claim 30, wherein the end effector displacing movement is calculated so that the second joint is not driven to effect a desired distal portion displacing movement, and wherein the avoidance movement of the one or more joints of the pluralities of joints of the first and second manipulator arms is calculated to include driving of the second joint of one or more manipulator arms. 33. The robotic method of claim 23, wherein the first joint of each manipulator arm couples the proximal portion to the base, the first joint comprising a revolute joint that supports the distal portion of each manipulator arm such that a joint movement of the revolute joint pivots the distal portion of the respective manipulator arm about a pivotal axis of the revolute joint, wherein the pivotal axis extends from the revolute joint and through the respective remote center so that the insertion axis of the manipulator arm moves along a distally tapered cone oriented towards the remote center. 34. The robotic method of claim 33 further comprising: driving the first joint of the plurality of joints with a desired reconfiguration movement in response to a reconfiguration command;calculating a reconfiguration movement of one or more joints of the pluralities of joints of the first and second manipulator arms in response to the reconfiguration command so that the calculated reconfiguration movement of the first joint combined with the calculated avoidance movement is contained within a null-space of the Jacobian; anddriving the one or more joints of the pluralities of joints of the first and second manipulator arms according to the calculated reconfiguration movement concurrently with driving one or more joints of the pluralities of joints of the first and second manipulator arms according to the calculated avoidance movement. 35. The robotic method of claim 34, wherein the first joint couples the proximal portion to the base so that the distal portion is moveable relative to the base along a path, the path being arcuate or substantially circular such that a movement of the proximal portion along the path pivots the insertion axis of the distal portion of the respective manipulator arm axis along a distally tapering cone oriented towards its remote center. 36. The robotic method of claim 35, wherein driving the first joint comprises moving the first joint along the path. 37. A robotic system comprising: a first and second manipulator arm, each arm having a distal portion and a proximal portion coupled to a proximal base and being configured for robotically moving the distal portion relative to the proximal base, each manipulator arm having a plurality of joints between the distal portion and the proximal base, the plurality of joints having a joint space with sufficient degrees of freedom to allow a range of joint states for a distal portion state of the first and second arms; anda processor configured to perform operations including: determining a first reference geometry of the first manipulator arm and a second reference geometry of the second manipulator arm, the first and second reference geometries movable with the associated manipulator arms within a workspace and having ranges of motion that overlap;determining a relative state between the first reference geometry and the second reference geometry in the workspace;determining a desired avoidance vector,calculating an avoidance movement of one or more joints of the pluralities of joints of the first and second manipulator arms to maintain a separation between the first and second reference geometries in the workspace, wherein the avoidance movement is calculated in the joint space, the avoidance movement being based on the desired avoidance vector so that the avoidance movement is contained within a null-space of a Jacobian associated with the respective manipulator arm; anddriving the one or more joints of the pluralities of joints of the first and second manipulator arms according to the calculated avoidance movement. 38. The robotic system of claim 37, wherein the processor is further configured to calculate the avoidance movement in response to the determination of the relative state, when the relative state corresponds to a less than desired clearance between the first and second reference geometries and wherein the calculated movement along the desired avoidance vector corresponds to an increase in clearance. 39. The robotic system of claim 37, wherein the relative state is determined by the processor using three-dimensional coordinates corresponding to the workspace of the manipulator arms. 40. The robotic system of claim 37, wherein the avoidance movement calculation by the processor includes converting the desired avoidance vector between the workspace and the joint space of the manipulator arms. 41. The robotic system of claim 37, wherein each of the first and second manipulator arms comprise joint sensors, and wherein the determination of the relative state by the processor uses joint sensor data from the joint sensors of each of the first and second manipulator arms. 42. The robotic system of claim 37, wherein the first reference geometry includes a line segment corresponding to a structure of the first manipulator arm and the second reference geometry includes a segment corresponding to a structure of the second manipulator arm. 43. The robotic system of claim 42, wherein each of the first and second reference geometries comprise a plurality of line segments each corresponding to a structure on the respective manipulator arm, and determining the relative state further comprises: determining a line segment of the plurality of line segments of the first reference geometry nearest a line segment of the plurality of line segments of the second reference geometry, the nearest line segments corresponding to nearest structures of the first and second manipulator; andcalculating the desired avoidance vector so as to extend through the nearest line segments. 44. The robotic system of claim 41, wherein the processor is further configured so that calculating the avoidance movement comprises: calculating a repulsion force between the first and second reference geometries sufficient to maintain a desired distance between the first and second reference geometries when applied in a direction of the desired avoidance vector, andcalculating a movement of the one or more joints of the pluralities of joints of the first and second manipulator arms in response to the repulsion force applied on the manipulator arms along the desired avoidance vector. 45. The robotic system of claim 41, wherein the processor is further configured so that calculating the avoidance movement comprises: calculating a repulsion commanded velocity between the first and second reference geometries sufficient to maintain a desired distance between the first and second reference geometries when applied in a direction of the desired avoidance vector, the first and second reference geometries including line segments for corresponding structures of the manipulator arms, andcalculating a movement of the one or more joints of the pluralities of joints of the first and second manipulator arms in response to the repulsion commanded velocity applied on the line segments for the corresponding structures of the manipulator arms along the desired avoidance vector. 46. The robotic system of claim 44, wherein the repulsion force has a magnitude inversely related to the distance between the first and second reference geometries. 47. The robotic system of claim 45, wherein the repulsion commanded velocity has a magnitude inversely related to the distance between the first and second reference geometries. 48. The robotic system of claim 37, wherein determining the relative state between the first and second reference geometries comprises any or all of a relative position, relative velocity and relative acceleration between the first and second reference geometries. 49. The robotic system of claim 37 further comprising: an input for receiving a manipulation command to move the distal portion with a desired distal portion movement,wherein the processor is further configured to perform operations including: calculating a distal portion displacing movement of the plurality of joints in response to the manipulation command, wherein the distal portion displacing movement of the plurality of joints is calculated so that joint movement is contained within along a null-perpendicular space of the Jacobian, the null-perpendicular space being orthogonal to the null-space, anddriving the pluralities of joints according to the calculated distal portion displacing movement of the plurality of joints so as to effect a desired distal portion movement. 50. The robotic system of claim 37, further comprising: one or more additional manipulator arms, each arm including a movable distal portion, a proximal portion coupled to the base, and a plurality of joints between the distal portion and the base, the plurality of joints having a joint space with sufficient degrees of freedom to allow a range of differing joint states for a state of a distal portion of each of the one or more additional manipulator arms,wherein the processor is further configured to perform operations including: determining a reference geometry on the one or more additional manipulator arms having a range of motion overlapping with the first or second reference geometries,determining a relative state between reference geometries having ranges of motion that overlap in the workspace and a desired avoidance vector between the reference geometry of the one or more additional manipulator arms and the first or second reference geometry,calculating the avoidance movement of one or more joints of the pluralities of joints of the one or more additional manipulator arms so as to maintain the separation between the reference geometries of each manipulator arm, wherein the avoidance movement is calculated in the joint space so that avoidance movement is contained within the null-space of the Jacobian, anddriving the one or more joints of the pluralities of joints of the or more additional manipulator arms according to the calculated avoidance movement. 51. The robotic system of claim 37, wherein the distal portion of each arm comprises or is configured to releasably support a surgical instrument having an elongate shaft extending distally to a surgical end effector, wherein each instrument shaft pivots about a remote center during surgery, and wherein the avoidance movement of the one or more joints of the pluralities of joints of the first and second manipulator arms is calculated so as to maintain a position of the remote center during the driving of the pluralities of joints of the first and second manipulator arms. 52. The robotic system of claim 49, wherein each manipulator arm is configured to support a tool having an intermediate portion with the intermediate portion extending along an insertion axis distally of the proximal portion and an end effector at a distal end of each intermediate portion, wherein at least some of the plurality of joints of that manipulator arm mechanically constrain a movement of the distal portion relative to the base such that the distal portion of the respective manipulator arm pivots about a remote center disposed at the insertion axis to facilitate a movement of the end effector at a work site, wherein the work site is accessed through an insertion opening. 53. The robotic system of claim 52, wherein a plurality of the joints of each manipulator arm comprises remote spherical center joints disposed distally of the proximal portion and proximally of the distal portion of the respective manipulator arm, wherein the remote spherical center joints are mechanically constrained so that articulation of the remote spherical center joints pivot the distal portion of the respective manipulator arm about first, second, and third remote center axes, the first, second, and third remote center axes intersecting its remote center. 54. The robotic system of claim 52, wherein the proximal portion of each manipulator arm is mechanically constrained relative to the base such that its distal portion pivots about its remote center when the proximal portion moves. 55. The robotic system of claim 52, wherein the plurality of joints of each manipulator include a revolute joint near a distal portion of the manipulator arm that pivots the insertion axis about an axis of the distal revolute joint, the axis extending through the remote center. 56. The robotic system of claim 55, wherein the end effector displacing movement is calculated so that the distal revolute joint is not driven to effect the desired distal portion displacing movement. 57. The robotic system of claim 56, wherein the avoidance movement of the one or more joints of the pluralities of joints of the first and second manipulator arms is calculated so as to drive at least the distal revolute joint of one or more of the first and second manipulator arms. 58. The robotic system of claim 52, wherein a first joint couples the proximal portion to the base, and an intermediate link is disposed proximal of and adjacent to the distal portion with a second joint therebetween, the second joint comprising a revolute joint mechanically constraining a movement of the distal portion relative to the intermediate link to rotation about a second joint axis, the second joint axis extending from the second joint distally toward the intermediate portion axis so as to intersect the insertion axis extending through the remote center. 59. The robotic system of claim 58, wherein the end effector displacing movement is calculated so that the second joint is not driven to effect the desired distal portion displacing movement, and wherein the avoidance movement of the one or more joints of the pluralities of joints of the first and second manipulator arms is calculated to include driving the second joint of one or more manipulator arms. 60. The robotic system of claim 52, wherein a first joint of each manipulator arm couples the proximal portion to the base, the first joint comprising a revolute joint that supports the distal portion of each manipulator arm such that a joint movement of the revolute joint pivots the distal portion of the respective manipulator arm about a pivotal axis of the revolute joint, wherein the pivotal axis extends from the revolute joint and through the respective remote center so that the insertion axis of the manipulator arm moves along a distally tapered cone oriented towards the remote center. 61. The robotic system of claim 60 further comprising: wherein the processor is further configured to calculate a reconfiguration movement of the pluralities of joints in response to a reconfiguration command so that the calculated avoidance movement of the one or more joints of the pluralities of joints of the first and second manipulator arms together with the calculated reconfiguration movement of the pluralities of joints of the first and second manipulator arms are within a null-space of a Jacobian associated with the first and second manipulator arms, the processor being configured to drive the pluralities of joints of the first and second manipulator arms according to the calculated reconfiguration movement during the calculated avoidance movement of the one or more joints of the first and second manipulator arms so as to maintain a desired state of the distal portion during the reconfiguration movement,wherein the processor is configured to drive the pluralities of joints of the first and second manipulator arms according to the calculated reconfiguration movement concurrently with the calculated avoidance movement when the relative state corresponds to a separation between reference geometries of the first and second arms being less than desired so as to inhibit collisions between the first and second arms while effecting the desired reconfiguration movement. 62. The robotic system of claim 61, wherein the first joint couples the proximal portion to the base so that the distal portion is moveable relative to the base along a path, the path being arcuate or substantially circular such that a movement of the proximal portion along the path pivots the insertion axis of the distal portion of the respective manipulator arm axis along a distally tapering cone oriented towards its remote center. 63. The robotic system of claim 62, wherein the at least one joint is the first joint, and wherein driving of the at least one joint comprises translating the first joint along the path. 64. A robotic system comprising: a first manipulator arm and a second manipulator arm, each manipulator arm including a distal end effector and being configured for robotically moving the distal end effector relative to a proximal base, each manipulator arm comprising a plurality of kinematically joined links, the plurality of links being moveable within a workspace and having sufficient degrees of freedom to allow a range of motion through a null-space of a Jacobian associated with the respective manipulator arm for a state of the end effector of the respective manipulator arm;a processor coupled to the manipulator arms, the processor being configured to perform operations including: determining a first reference geometry of the first manipulator arm and a second reference geometry of the second manipulator arm, the first and second reference geometries having ranges of motion within the workspace that overlap,determining a relative state between the first reference geometry and the second reference geometry,calculating an avoidance movement of one or more links of the plurality of links of one or both of the first and second manipulators along an avoidance vector between the first and second reference geometries by driving one or more joints kinematically coupling the one or more links of the respective manipulator to maintain a separation between the first and second reference geometries, wherein the avoidance movement is calculated so that a movement of the one or more joints is within a null-space of the Jacobian, andmoving the one or more links according to the calculated avoidance movement. 65. The robotic system of claim 64 further comprising: an input for receiving a manipulation command to move each end effector with a desired end effector movement, the input being disposed on a user interface, wherein the processor is further configured to perform operations including: calculating an end effector displacing movement of the one or more links in response to the manipulation command, wherein calculating end effector displacing movement of the one or more links comprises calculating a movement of the one or more joints within a null-perpendicular-space of the Jacobian, the null-perpendicular-space being orthogonal to the null-space, andmoving the one or more links according to the calculated end effector displacing movement of the one or more links by driving the one or more joints to effect the desired end effector movement. 66. The robotic system of claim 65, wherein the processor is further configured to calculate the avoidance movement so as to include driving of one or more joints that are not driven when calculating the end effector displacing movement.
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