---
publication_id: "OT-2026-000001655"
title: "Control modes and processes for positioning of a robotic manipulator"
published_at: "2026-09-15T19:07:23.666863Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001655"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1679"
  - "b25j9/1679"
  - "b25j9/1689"
  - "a61b2090/5025"
  - "a61b2090/5025"
  - "a61b2090/5025"
---

# Control modes and processes for positioning of a robotic manipulator

## Abstract

A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.