Software center and highly configurable robotic systems for surgery and other uses

A robotic method for

• robotically moving a distal link of a manipulator assembly relative to a proximal base, the manipulator assembly having a plurality of links extending between the proximal base and the distal link, the plurality of links interconnected by a plurality of joints, the method comprising:
• receiving a movement command to move the manipulator assembly or an instrument supported by the manipulator assembly according to a desired movement;
• determining, with a processor of the manipulator assembly and in response to receiving the movement command, a first set of joint movements of the plurality of joints, wherein the first set of joint movements effects the desired movement while maintaining the distal link at or adjacent an access site;
• determining, with the processor and in response to detecting movement of the access site, a second set of joint movements of the plurality of joints, wherein the second set of joint movements combined with the first set of joint movements maintain an orientation or position of at least a portion of the instrument or a distal portion of the manipulator assembly during movement of the access site while the distal link is maintained at or adjacent the access site;
• and
• robotically moving the manipulator assembly according to the first set of joint movements combined with the second set of joint movements to effect the desired movement and maintain the orientation or position of the instrument or the distal portion of the manipulator assembly during the movement of the access site.