Method and system for coordinated multiple-tool movement using a drivable assembly

A method for operating a robotic system,

• the robotic system comprising a manipulator assembly, the manipulator assembly comprising:
• a first manipulator,
• a second manipulator,
• a drivable structure, wherein the first manipulator is mechanically coupled to the drivable structure, and wherein the second manipulator is mechanically coupled to the drivable structure such that a motion of the drivable structure moves a common mechanical base of the first manipulator and the second manipulator, and
• the method comprising:
• receiving a first command from an input device, the first command indicating a first commanded motion for a first end effector of a first tool mechanically coupled to the first manipulator, wherein the first manipulator and the first tool together comprise a plurality of first links coupled by a plurality of first joints;
• determining a first movement for effecting the first commanded motion, the first movement comprising a first relative motion of the first end effector relative to the drivable structure and a drivable structure motion of the drivable structure, wherein performing only the drivable structure motion would cause a first caused motion of the first end effector simultaneously with a second caused motion of a second end effector, the second end effector being of a second tool mechanically coupled to the second manipulator, wherein the second manipulator and the second tool together comprise a plurality of second links coupled by a plurality of second joints,
• determining a second movement of the plurality of second joints, wherein performing the second movement simultaneously with the drivable structure motion would compensate for the second caused motion and maintain a state of the second end effector, and
• driving the manipulator assembly to simultaneously perform the first and second movements.

A non-transitory computer readable medium comprising a plurality of computer-readable instructions which, when executed by one or more processors associated with a robotic system comprising a manipulator assembly, the manipulator assembly comprising a first manipulator, a second manipulator, and a drivable structure mechanically coupled to the first manipulator and the second manipulator such that a motion of the drivable structure moves a common mechanical base of the first manipulator and the second manipulator, are adapted to cause the one or more processors to perform a method comprising:

• receiving a first command from an input device, the first command indicating a first commanded motion for a first end effector of a first tool mechanically coupled to the first manipulator, wherein the first manipulator and the first tool together comprise a plurality of first links coupled by a plurality of first joints;
• determining a first movement for effecting the first commanded motion, the first movement comprising a first relative motion of the first end effector relative to the drivable structure and a drivable structure motion of the drivable structure, wherein performing only the drivable structure motion would cause a first caused motion of the first end effector simultaneously with a second caused motion of a second end effector, the second end effector being of a second tool mechanically coupled to the second manipulator, wherein the second manipulator and the second tool together comprise a plurality of second links coupled by a plurality of second joints;
• determining a second movement of the plurality of second joints, wherein performing the second movement simultaneously with the drivable structure motion would compensate for the second caused motion and maintain a state of the second end effector;
• and
• driving the manipulator assembly to simultaneously perform the first and second movements.