Systems and methods for controlling a robotic manipulator or associated tool

A robotic system, comprising:

• a robotic manipulator including a first joint and a link connected to the first joint;
• and
• a processing unit including one or more processors, the processing unit configured to:
• receive sensor measurement data of the link from a sensor system;
• determine a first vibration cancellation state for the first joint based on one or more cancellation conditions of one or more of joints of the robotic manipulator and the sensor measurement data;
• determining a first initial vibration cancellation force;
• limit, in accordance with the first vibration cancellation state, the first initial vibration cancellation force to generate a first limited cancellation force;
• and
• apply the first limited cancellation force to the first joint.

A method of operating a robotic system comprising:

• receiving, with processing unit and from a sensor system, sensor measurement data of a link of a robotic manipulator of the robotic system, wherein the robotic manipulator includes a first joint connected to the link;
• determining, with the processing unit, a first vibration cancellation state for the first joint based on one or more cancellation conditions of one or more of joints of the robotic manipulator and the sensor measurement data,
• determining a first initial vibration cancellation force;
• limit, in accordance with the first vibration cancellation state, the first initial vibration cancellation force to generate a first limited cancellation force;
• and
• apply the first limited cancellation force to the first joint.

A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which, when executed by one or more processors, are adapted to cause the one or more processors to perform a method comprising:

• receiving, from a sensor system, sensor measurement data of a link of a robotic manipulator of a robotic system, wherein the robotic manipulator includes a first joint connected to the link;
• determining, a first vibration cancellation state for the first joint based on one or more cancellation conditions of one or more of joints of the robotic manipulator and the sensor measurement data;
• determining a first initial vibration cancellation force;
• limit, in accordance with the first vibration cancellation state, the first initial vibration cancellation force to generate a first limited cancellation force;
• and
• apply the first limited cancellation force to the first joint.