US Patent 11154985 Null space jog control for robotic arm

A method includes receiving input data indicative of tactile input at a bidirectional jog control device associated with a seven-degree-of-freedom (7DOF) robotic arm, where the 7DOF robotic arm is in a first arm configuration with an end effector of the 7DOF robotic arm positioned at a first pose in an environment. Based on the input data, the method further includes determining a direction to jog the 7DOF robotic arm through a null space while keeping the end effector fixed at the first pose in the environment. The method additionally includes controlling the 7DOF robotic arm to jog through the null space in the determined direction to a second arm configuration, where the end effector is positioned at the first pose in the environment when the 7DOF robotic arm is in the second arm configuration.