Abstract: A robot adapted to operate in association with an interface surface having disposed therein or thereon coded data indicative of a plurality of reference points of the interface surface, the robot comprising: movement means to allow the robot to move over the interface surface; a sensing device which senses at least some of the coded data and generates indicating data indicative of a position of the robot on the interface surface; communication means to transmit the indicating data to a computer system running a computer application, and to receive movement instructions from the computer application; and, a marking device adapted to selectively mark the interface surface in response to marking instructions received from the computer application.

Abstract: A human-type link system, such as a humanoid robot having a dynamically feasible motion of the link system that is generated when a reference joint acceleration that is only calculated from a kinematical constraint condition is determined not feasible by an evaluation of external force computed based on an inverse dynamics calculation, or is generated by calculating from a dynamic constraint condition and a kinematical constraint condition simultaneously, the dynamic constraint condition is formulated by using an actuation space inverse inertial matrix that represents the relation of force acting on the link system and the acceleration of the link system caused by the force.

Abstract: Methods for operating robotic devices (i.e., “robots”) that employ adaptive behavior relative to neighboring robots and external (e.g., environmental) conditions. Each robot is capable of receiving, processing, and acting on one or more multi-device primitive commands that describe a task the robot will perform in response to other robots and the external conditions. The commands facilitate a distributed command and control structure, relieving a central apparatus or operator from the need to monitor the progress of each robot. This virtually eliminates the corresponding constraint on the maximum number of robots that can be deployed to perform a task (e.g., data collection, mapping, searching). By increasing the number of robots, the efficiency in completing the task is also increased.

Abstract: A deployable automatic foam fire suppressant system comprising a pump module having at least one pump coupled to a foam material source, the at least one pump comprising a pump suction component for the supply of water, and a supply module configured for coupling to the pump module, the supply module including at least one supply means having fluid conduit and at least one foam applicator. fluidly coupled to the pump module, wherein the pump module and the supply module are deployable and configured to be operated from a remote location.

Abstract: A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). Cameras (46R and 46L) view workspace (30) from different angles for production of stereoscopic signal outputs at lines (48R and 48L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (30I) is produced which, is reflected by mirror (66) toward the eyes of operator (18). A virtual image (30V) is produced adjacent control arms (76R and 76L) which is viewed by operator (18) looking in the direction of the control arms. Use of the teleoperator system for surgical procedures also is disclosed.

Abstract: System and method for allowing execution of control over robot hardware other than specific robot hardware by using control software that does not have features to be applied to the robot hardware other than the specific hardware designed for control. Control software makes an inquiry about the presence of robot function requested by control software through the use of interface recording and robot function searching. If it has been found that the robot function is present, there is a requests that robot motion be performed. If it has been found that the robot function is not present, the request is skipped, or the request is made to similar robot function.

Abstract: A facility for selecting and refining electrical parameters for processing a microelectronic workpiece in a processing chamber is described. The facility initially configures the electrical parameters in accordance with either a numerical of the processing chamber or experimental data derived from operating the actual processing chamber. After a workpiece is processed with the initial parameter configuration, the results are measured and a sensitivity matrix based upon the numerical model of the processing chamber is used to select new parameters that correct for any deficiencies measured in the processing of the first workpiece. These parameters are then used in processing a second workpiece, which may be similarly measured, and the results used to further refine the parameters.

Abstract: Methods and apparatuses for calibrating and teaching a robot to accurately work within a work environment. The present invention preferably provides one or more tactile sensor devices that may be operatively coupled with a robot or positioned at one or more desired locations within a work environment of the robot. In one aspect of the present invention a method comprises the steps of providing a touch sensitive surface in the work environment, causing the touch sensitive surface to contact an object, generating a signal indicative of the position of the contact with respect to the touch sensitive surface, and using information comprising the generated signal to teach the robot the location of the contact in the work environment.

Abstract: A robot having a spindle is calibrated by disposing a calibration tool in the robot spindle. The position of the calibration tool is measured. An axis of the spindle is determined based on the measured position. A calibration tool center point is determined based on the measured position. A robot tool rotation axis is determined based on the determined spindle axis, robot tool center point, the determined calibration tool center point, and difference in length between the calibration tool and a robot tool.

Abstract: Robot arm end effectors rapidly transfer semiconductor wafers between a wafer cassette and a processing station. Preferred embodiments of the end effectors include proximal and distal rest pads, the latter having pad and backstop portions that support and grip the wafer at its peripheral edge or within an annular exclusion zone that extends inward from the peripheral edge of the wafer. Preferred embodiments of the end effectors also include fiber optic light transmission sensors for determining various wafer surface, edge, thickness, tilt, and location parameters. The sensors provide robot arm extension and elevation positioning data supporting methods of rapidly and accurately placing and retrieving a wafer from among a stack of closely spaced wafers stored in the wafer cassette.

Abstract: A manipulator comprises an operation command unit provided with an attitude adjusting unit and an end effector control unit, a connecting unit having one end connected to the operation command unit, a working unit connected to the other end of the connecting unit and provided with an end effector and a support unit supporting the end effector for motions, and a control unit that transmits an operation command provided by the attitude adjusting unit to the support unit to adjust the attitude of the end effector and transmits an operation command provided by the end effector control unit to the end effector to operate the end effector. The support unit includes a first joint capable of turning about a first axis perpendicular to the center axis of the connecting unit, and a second joint capable of turning about a second axis perpendicular to the first axis. The end effector can be turned for rolling about an axis substantially parallel to the second axis of the second joint.

Abstract: A quantum gate for running a Grover's quantum algorithm using a binary function having a vector basis of n qubits is provided. The quantum gate includes a superposition subsystem, an entanglement subsystem and an interference subsystem. The interference subsystem performs an interference operation on components of entanglement vectors for generating components of output vectors. The interference subsystem performs the interference operation in a very fast manner by using an adder receiving as input signals representing even or odd components of an entanglement vector, and generating a sum signal representing a weighted sum with a scale factor of the even or odd components.

Abstract: A surgical method and a control system is provided. The surgical method and the control system can advantageously be used in a minimally invasive surgical apparatus. The method includes generating a desired surgical instrument movement command signal. It further includes comparing the desired surgical instrument movement command signal with at least one preset surgical instrument movement limitation. Should the desired surgical instrument command signal transgress the preset surgical instrument movement limitation, the desired surgical instrument movement command signal is restricted to yield a restricted surgical instrument movement command signal. A surgical instrument is then caused to move in response to the restricted surgical instrument movement command signal. The method further provides for haptic feedback on a master control in response to restriction of the desired surgical instrument movement command signal.

Abstract: A method is provided of adaptively controlling a paint system for painting vehicle bodies. The method includes the steps of obtaining an estimated Jacobian that identifies characteristics of the paint system and using the estimated Jacobian to determine initial conditions to be implemented for the next vehicle body to be painted in the paint system. The method also includes the steps of storing a database of appropriate initial conditions that resulted in satisfactory transient response in a rule-base and using the rule-base at start-up of the paint system or if the paint system fails to be satisfactorily controlled.

Abstract: A method for controlling a hyper-redundant manipulator including a plurality of links coupled by joints by determining the shape the manipulator takes when the end of the manipulator is moved to a target position, includes modeling each link as an elastic body having a natural length and a suitable modulus of elasticity that enables the elastic body to stretch and contract, simulating the overall shape of the manipulator when the end has been moved to the target position with the joints locked at a freezed angle and the joints are unlocked to return each link to its natural length, and moving the manipulator end to the target position by controlling each joint angle to match the simulation outcome.

Abstract: A method of calibrating a wafer edge gripping end effector. A wafer calibration tool is held in a stationary position simulating the position of a semiconductor wafer to be picked up by the wafer edge gripping end effector. A controller associated with a robot having an end effector attached to a robot arm thereto is turned off. The robot arm and end effector are moved to position where the first and second clamp structures on the end effector each engage a respective inner edge that in part defines a notch formed in the wafer calibration tool. An actuator driven movable clamp structure is manually advanced so that the movable clamp structure engages an inner edge that in part defines one of the notches formed in the wafer calibration tool. The controller is turned on and data regarding the location of robot arm, end effector and movable clamp structure is stored.

Abstract: The invention relates to a device or method to determine the phenomenological regularity of the phase modulation of one or more cyclically fluctuating quantities, including the possibility to determine a regularity induced by mutual interaction. According to the invention, the regularity is determined as an autoregressive model of successive phase angles which are each defined as homogenous function of a low number of successive values of each of the cyclically fluctuating quantities. The periodicity of all functions of such phase angles permits an efficient approximation of the regularity by finite Fourier series. A skilled choice of the homogenous function (canonical phase) as well as of a related implicit estimation scheme guarantees that a good approximation of the angle dynamics results also in good reconstructions of the original dynamics.

Abstract: A retreat permission position of a carrier arm when the carrier arm is moved back to retreat outside a mounting table after the carrier arm carries a substrate to a position above the mounting table while holding a peripheral portion of the substrate, to thereby place the substrate on a plurality of supporting pins vertically movable through the mounting table. A disk substantially equal in size to the substrate, having insertion holes formed to allow the supporting pins to be inserted therethrough and being supportable by the carrier arm, and a sensor to detect whether or not the supporting pin inserted through the insertion hole of this disk exists.

Abstract: A method for moving a substrate to a predetermined location with a specified orientation with a robotic manipulator, the robotic manipulator having a plurality of joint actuators and an end-effector for holding the substrate, wherein the end-effector is independently rotatable with respect to the remaining robotic manipulator. The method can select a reference point on the end-effector for determining a position of the end-effector, wherein the reference point is offset from a wrist of the robotic manipulator, determining a motion path for movement of the end-effector of robotic arm toward predetermined location with specified orientation, and generating motion profiles for translational and rotational components of movement of the end-effector of robotic manipulator along the motion path.

Abstract: Robot arm (16) end effectors (10, 110, 210) of this invention rapidly and cleanly transfer semiconductor wafers (12) between a wafer cassette (14) and a processing station. The end effectors include fiber optic light transmission sensors (90, 102, 202, 214) for determining various wafer surface, edge, thickness, tilt, and location parameters. The sensors provide robot arm extension and elevation positioning data supporting methods of rapidly and accurately placing and retrieving a wafer from among a stack of closely spaced wafers stored in the wafer cassette. The methods effectively prevent accidental contact between the end effector and the wafers while effecting clean, secure gripping of the wafer.

Abstract: A quantum gate performs the superposition operation of a Grover's or of a Deutsch-Jozsa's quantum algorithm in a very fast manner. This is done by performing all multiplications by using logic gates that immediately outputs the result. The superposition operation includes performing the Hadamard rotation over an input set of vectors for producing a set of rotated vectors, and calculating the tensor product of all the rotated vectors for outputting a linear superposition set of vectors. The tensor product of all the rotated vectors is carried out by the logic gates.

Abstract: An interference avoiding device for determining occurrence of an interference in a robot operation in advance and automatically avoiding the interference, to be suitably applied to an automatic picking-up operation of randomly stored workpieces. A position/orientation of a workpiece and a position/orientation of a tool for getting hold of the workpiece in a teaching operation, and shapes/dimensions of the tool and the storage box are determined and stored in a storage device. A command position/orientation Ta of the tool for getting hold of an objective workpiece is determined based on a detected position/orientation Wa of the workpiece and it is determined whether or not an interference between the tool an the storage box will occur based on the position/orientation Ta and the stored information.

Abstract: A robot system having a plurality of component units. The robot system includes a first storage device, and a second storage device. The robot system further includes a plurality of control devices, with a first component control device provided with the first component unit and a second component control device provided with the second component unit. The first component control device controls the first component unit and the second component control device controls the second component unit.

Abstract: When determining coordinates of a point of an object (2) in a reference system of coordinates and the orientation of the object in the space in a measuring position assumed by the object, the object is moved from a start position having known coordinates and a known orientation to a measuring position while detecting this movement. Said coordinates and the orientation of the object in the measuring position are calculated from information from this detection and about the start position. Furthermore, the acceleration and retardation of the object are measured during the movement, and the coordinates and the orientation of the object in the measuring position are calculated from information from this measurement.

Abstract: When a position deviation of teaching point of a robot manipulator is detected during continuous operation of a robot system, device for correcting the teaching point without stopping continuous operation of the robot system is provided, thereby presenting device for operating the robot system efficiently without having effects on productivity of the production line. Having a changeover unit for changing over modes by selecting from an input mode for entering teaching points, an operation mode for operating according to the teaching points, and an in-process correction mode for correcting the teaching points stored in the storage unit according to the data from the input unit during operation of the robot manipulator, the mode is changed over to the in process correction mode by the changeover unit, the data for correcting the teaching point is entered from the input unit, and the control unit corrects and processes according to the entered data.

Abstract: A feeding robot which is capable of drawing a glass panel for a liquid crystal display from a cassette without bringing it into collision with the cassette, and then feeding the drawn glass panel with a reduced error, and a method for controlling the same. Determination is made as to whether an object to be fed has been accurately aligned with a traveling axis of the feeding robot. A turned angle of the object relative to the traveling axis is calculated if the object has not been accurately aligned with the traveling axis. The robot is turned by the turned angle and then draws the object. While the robot moves to a target position, a correction value for the target position is calculated, and the target position is then corrected by the calculated correction value. The feeding robot control method is capable of aligning the glass panel with a hand of the feeding robot using sensors in the robot.

Abstract: A robot is provided which comprises a body unit, plural component units connected to the body unit, a memory mounted on the body unit for storing unit information of each of the component units and a basic operation program, a control unit mounted on the body unit for controlling the action of the robot, and a memory unit detachably mounted on the body unit for storing application program of the robot. The control unit reads out (i) the unit information, (ii) the basic operation program and (iii) the application program, and controls the component units in accordance with the read unit information, basic program, and application program.

Abstract: A hybrid control system is provided for controlling the movement of a robot. The hybrid control system includes a singularity detector; a task level controller that receives a motion plan and determines a first set of control commands which are defined in a task space; and a joint level controller that receives the motion plan and determines a second set of control commands which are defined in a joint space. The singularity detector monitors the movement of the robot and detects robot movement in a region about a singularity configuration. When robot movement occurs outside of this region, the task level controller is operable to issue the first set of control commands to the robot. When the robot movement occurs inside of this region, the joint level controller is operable to issue the second set of control commands to the robot. In this way, the hybrid control system ensures feasible robot motion in the neighborhood of and at kinematic singularity configuration.

Abstract: Robot arm (16) end effectors (10, 110, 210) of this invention rapidly and cleanly transfer semiconductor wafers (12) between a wafer cassette (14) and a processing station. The end effectors include proximal and distal rest pads (24, 26, 124, 126) having pad and backstop portions (32, 34, 132, 134) that support and grip the wafer either by wafer peripheral edge contact or within an annular exclusion zone (30) that extends inward from a peripheral edge of the wafer. An active contact point (50, 150, 222) is movable by a vacuum actuated piston (52, 152) between a retracted wafer-loading position and an extended position that urges the wafer against the distal rest pads to grip the wafer at its edge or within the exclusion zone. The end effector further includes fiber optic light transmission sensors (90, 102, 202, 214) for determining various wafer surface, edge, thickness, tilt, and location parameters.

Abstract: The robot apparatus of the present invention autonomously makes natural motions. The robot apparatus is provided with a control means 32, which has a feeling/instinct model that causes a motion and changes the feeling/instinct model based on input information S1 to S3 thereby to determine a motion. As a result of this, the robot apparatus 1 can autonomously act based on the state of its own feeling/instinct. A robot apparatus which can autonomously make natural motions can thus be realized.

Abstract: A substrate conveying system wherein, at a substrate transfer position of a conveyance robot, a robot arm is moved upwardly at a normal speed from its lowermost position, and wherein the movement speed is changed to a lower speed at a predetermined position. During upward motion at the lower speed, the substrate is received and, while continuing the upward motion, the movement speed is changed back to the normal speed, at a second predetermined position. The robot arm continues its upward motion to its topmost position, with this normal speed.

Abstract: A method and apparatus for control of pivoting machine members propelled by linear actuators so as to permit coordinated motion of the pivoting members with translating machine members. Position commands for the pivoting machine members are given in angular units. The propelling linear actuators are controlled by servomechanism control providing position and velocity control. Position measurements for the pivoting members measure linear displacement of the propelling actuator. Position commands for the pivoting members are compensated according to the non-linear relationship between displacement of the propelling actuator and the angular displacement of the pivoting member.

Abstract: A robot system having a plurality of component units. The robot system includes a first storage device, and a second storage device. The robot system further includes a plurality of control device, with a first component control device provided with the first component and a second component control device provided with the second component wherein the first component control device controls the first component device and the second component control device controls the second component.

Abstract: In the robot system and the control method thereof, the motion of the movable part of which one end has been connected freely in rotation in the direction of at least one axis or more will be determined by changing the emotion/instinct model based on input information. On the other hand, the remaining amount of the battery is detected and if the above detected remaining amount of the battery becomes a prescribed level or below, besides, the internal temperature of the body part is detected and if the above detected internal temperature becomes a prescribed temperature and over, the robot system is changed into a predetermined attitude and/or appears a predetermined motion.

Abstract: Control of a robotic mechanism comprising both active and passive joints is accomplished, where the motion of one or more of the passive joints is constrained by one or more constraints imposed on the mechanism by the environment, the mechanical construction of the mechanism, or the nature of the task such as a surgical robot holding a surgical instrument inserted into a patient through a natural or man-made orifice. The control incrementally moves the mechanism in a series of successive movements from its actual position to its desired or target position. The effect of moving each individual joint of the mechanism is characterized by Cartesian displacement of the target and a Jacobian is constructed mapping between infinitesimal joint displacements of the target to be extended to include both passive and active joints. Thus, hybrid robots containing both active and passive joints can be effectively controlled.

Abstract: An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Abstract: A graphical object in an object-oriented environment is comprised of a plurality of child graphical objects. The parent graphical object and each of the child graphical objects have a property corresponding to the orientation of a representation of the respective object. A connection tree is formed from the parent graphical object which has the initial values of each property of the child graphical objects. During operation, the value of the property of the graphical object may be altered corresponding to a change in the position of the object's graphical representation. The altered value is broadcast through the connection tree to allow recalculation of each child object's property based upon its initial value so that the parent object and its child objects can be graphically displayed based on the changed position.

Abstract: A method for cell alignment, identification and calibration of part of a robot tool, preferably a part of the robot tool, is positioned close to a detector, whereupon it is moved repeatedly past the limit of the area of detection of the detector. During the movement, the pose of the robot is registered each time the surface of said robot tool comes into tangential contact with the area of detection, and an over determined system of equations is formed, consisting of a correlation between the registered poses and unknown parameters regarding the detection area of the detector and the location of the robot part in space. An error vector is introduced into the system of equations, which is then solved while minimizing the error vector, preferably in the least square sense, in order to thus identify said unknown parameters and the error vector.

Abstract: A system for calibrating a robot used for inspecting a workpiece to maintain the accuracy of the robot during inspection of workpieces on a production basis, the system including means for storing a mathematical model of the robot, means for measuring the position of a target and then calibrating the robot based upon input from the mathematical model and the position of the target.

Abstract: A robot device having a plurality of component units connected together and controller detachably mounted on one of the component units for driving and controlling each the component units in a prescribed state. The control device is easily exchangeable for another control device. The robot device may further include a storing device detachably mounted on the respective component unit for storing desired behavior type information. The storing device is readily exchangeable for another storing device having stored therein different behavior type information.

Abstract: A method for optimizing an actual motion to perform a desired task by a performer wherein the performer has joints connected to body parts, the joints being actuated by muscle forces resulting in body part motion and the actual motion occurring as a result of generated muscle forces which torque the joints, resulting in the actual motion of connective body parts and/or an implement connected thereto. The joints, body parts, implements and their physical characteristics making a dynamic system. The method comprises the steps of deriving dynamics equations relating muscle forces to the dynamic behavior of the dynamic system; and computing the optimal motion for performing the desired task by minimizing the higher harmonic content of the muscle forces.

Abstract: A master device for generating motion instruction of the slave robot by sensing motion of the arm with fixed to the arm of the operator, and reflecting motion limit information by external force and physical articulation limit sensed by the robot may be simplified in a serial chain configuration so to solve problems of human fatigue and operational complexity in order to minimize dead weight of units mounted to the arm by concentrating and positioning the cylindrical rotating shaft members (44 and 45) near the body.

Abstract: A spherical robot having a spherical body and a drive mechanism. The spherical body defines a cavity and a center. The drive mechanism is disposed within the cavity, coupled to the spherical body, wherein said drive mechanism includes a plurality of masses coupled to said body which are radially positionable within said cavity to create a moment about said center of said body, and is adapted to create a moment about the center of the body. This moment causes the body to rotate.

Abstract: A modular object handling system has a multi-level control architecture, which includes a system controller that coordinates the functions and/or operations of individual module controllers, that in turn control corresponding actuators, to provide a desired system function. The system controller performs the overall trajectory planning by taking the constraints of each of the module actuators into account. The system controller may compensate for deviations of objects from their planned trajectories by contemporaneously redetermining trajectories and trajectory envelopes to encode the various combinations of the system constraints and task requirements. The trajectory envelopes can denote regions around other trajectories to indicate control criteria of interest, such as control and collision boundaries.

Abstract: An apparatus and method for enabling an uncalibrated, model independent controller for a mechanical system using a dynamic quasi-Newton algorithm which incorporates velocity components of any moving system parameter(s) is provided. In the preferred embodiment, tracking of a moving target by a robot having multiple degrees of freedom is achieved using an uncalibrated model independent visual servo control. Model independent visual servo control is defined as using visual feedback to control a robot's servomotors without a precisely calibrated kinematic robot model or camera model. A processor updates a Jacobian and a controller provides control signals such that the robot's end effector is directed to a desired location relative to a target on a workpiece.

Abstract: A positioning system used, by way of example, for lithography, uses the position of the wafer stage as the trajectory command for the reticle fine stage control circuit. The reticle fine stage position is combined with the position of the wafer stage to generate a synchronous error. The reticle fine stage control circuit uses a Jacobian differential transformation to convert the synchronous error into an positional error for the center of gravity of the reticle fine stage. Thus, any inaccuracies due to measurement errors caused by rotation of reticle fine stage are avoided. A controller filter circuit uses the positional error for the center of gravity to calculate the force on the center of gravity that will minimize the synchronous error. The controller filter circuit includes saturation limited integration behavior that minimizes the settling time. A feedforward loop also generates a feedforward force, which reduces settling time, and is combined with the force signal from the controller filter.

Abstract: Robot arm (16) end effectors (10, 110) of this invention rapidly and cleanly transfer between a wafer cassette (14) and a processing station semiconductor wafers (12) having diameters greater than 150 mm. The end effectors include proximal and distal rest pads (24, 26, 124,126) having pad and backstop portions (32, 34, 132, 134) that support and grip the wafer within an annular exclusion zone (30) that extends inward from a peripheral edge (30) of the wafer. An active contact point (50, 150) is movable by a vacuum actuated piston (52, 152) between a retracted wafer-loading position and an extended position that urges the wafer against the distal rest pads to grip the wafer within the exclusion zone. The end effector further includes fiber optic light transmission sensors (90, 102, 202) for locating the wafer periphery and bottom surface (100, 200).

Abstract: A compliant controller implements a biological model of a primate muscle so as to provide simultaneous position and force control with nonlinear damping for an actuator. The compliant controller uses one or more position sensors but does not require the use of a force sensor to provide force control. The compliant controller implements a force determining algorithm that is a function of an initial actuator position, a subsequently sensed actuator position, a desired actuator position and a position calculated from a nonlinear damping function. The algorithm updates or resets the initial actuator position or the calculated position depending upon the amount of actuator movement sensed. The compliant controller in accordance with the force determining algorithm and resetting of the various position values allows a desired position to be quickly attained while allowing the controller to compliantly respond to the presence or removal of an unknown or unexpected disturbing force.

Abstract: An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Abstract: The present invention is a method of controlling a robotic mechanism comprising both active and passive joints, where the motion of one or more of the passive joints is constrained by one or more constraints imposed on the mechanism by the environment, the mechanical construction of the mechanism or the nature of the task. The method is capable of controlling mechanisms with multiple sets of passive joints with multiple environmental constraints restricting the motion of the mechanism. In a preferred embodiment the novel method is used to control a surgical robot holding a surgical instrument inserted into a patient through a natural or man-made orifice.