Abstract
No assignee for this patent application has been made.Reporters obtained the following quote from the background information supplied by the inventors:“FIG. 1 illustrates a typical robot 100 for performing an oper ation. The robot 100 consists of a base101, a robot arm 102, and an instrument 103. The base 101 supports the robot, and is itself attachedrigidly to, for exa mple, the floor, ceiling or a cart. The robot arm 102 extends between the base a ndthe instrument. The robot arm consists of rigid links 104 interspersed with f lexible joints 105. The robotarm is thereby articulated and able to move its di stal end, and hence the instrument, within a workspace.The instrument comprises a shaft 106 and an end effector 107. The end effector 107 is located at a mostdistal position of the instrument from the robot arm. The end effector engages i n the operation that therobot is undertaking. For example, the robot may be an industrial robot in a car manufacturing plant forperforming operations on cars. As another example, the robot may be a surgical robot for assisting orperformi ng surgery.
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