Master having redundant degrees of freedom

A control system for use with a master controller of a robotic surgical system, the master controller comprising a linkage coupling a handle to a platform so that the handle can be manually rotated about three orientational axes, the linkage defining four axes of rotation, and a sensor system coupled to the linkage to measure articulation about the linkage axes of rotation, the control system comprising:

• a drive system drivingly engaging a driven joint of the linkage;
• and
• a processor coupling the sensor system to the drive system so that the driven joint avoids a motion inhibiting configuration of the linkage during the manual rotation of the handle.

A method for inputting instructions into a robotic system, the method comprising:

• manually moving a handle in a controller workspace so as to articulate a linkage defining at least one singularity;
• and
• driving a joint of the linkage away from the at least one singularity in response to the manual movement of the handle so as to avoid inhibiting the manual movement of the handle adjacent the singularity.

A method for inputting commands to effect movement of a robotic arm, the method comprising:

• manually moving a handle in a controller workspace, the handle coupled to a base by a linkage so that four joints of the linkage can rotate when the handle moves;
• sensing articulation of the linkage when the handle moves;
• driving at least one of the rotational joints when the handle moves in response to the sensed articulation of the linkage so as to enhance a range of motion of the handle in the controller workspace.