Techniques for operating a kinematic structure by manual motion of link coupled to the kinematic structure

A method for setting up a robotic system the method comprising:

• detecting, by a control system comprising one or more hardware processors, whether a cannula providing access to a worksite is mounted to a manipulator of the robotic system, the manipulator including a plurality of first joints, a plurality of first links coupled to the plurality of first joints, and a plurality of first motors coupled to drive motion of the manipulator;
• detecting, by the control system, an input indicating the system is to be in a set-up mode;
• and
• inhibiting, by the control system and in response to detecting that the cannula is mounted to manipulator, transition of the system to the set-up mode.

A robotic system comprising:

• a kinematic structure comprising a plurality of first joints, a plurality of first links coupled to the plurality of first joints, and a plurality of motors coupled to drive motion of the kinematic structure, the kinematic structure configured to support an instrument;
• a memory storing instructions, and
• a control system comprising one or more hardware processors;
• wherein, when the one or more hardware processors execute the instructions, the control system performs operations comprising:
• transitioning the robotic system to a set-up mode in response to detecting a joint operation of the kinematic structure;
• and
• while in the set-up mode and in response to an input displacement of a second link from an initial positional relationship relative to a third link of the plurality of first links to a displaced positional relationship relative to the third link, drive the plurality of motors so that the second link returns toward the initial positional relationship relative to the third link, wherein the input displacement moves the second link, the second link supported by the kinematic structure, the input displacement results from manual movement of the second link.