In a remote controlled robotic manipulator 20 a motion sensor 26 senses motion of a region of an object to be manipulated. A controller 50 locks motion of the robotic manipulator 26 relative to the region of the object and also selects the region of the object to be sensed. As a result the frame of reference...http://www.google.com/patents/US20060100642?utm_source=gb-gplus-sharePatent US20060100642 - Control of robotic manipulation
