| 摘要 |
In a method for controlling a robot arm, which is particularly suitable for use in medical applications, a robot arm ( 10 ) with a redundant number of joints is used. A torque acing in at least one joint ( 12 a, 12 b) is sensed. By means of a control device, the torque acting in this joint ( 12 a, 12 b) is controlled to become substantially 0.
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