A display device includes an augmented reality display part that displays a virtual robot that operates in accordance with a predetermined program together with objects in real space, a position detection part that detects the position of a work target in real space by measuring a distance to the work target from the augmented reality display part, and a control part that causes the virtual robot displayed on the augmented reality display part to operate based on the position of the work target detected by the position detection part to perform predetermined work on the work target.

A display device includes an augmented reality display part that displays a virtual robot that operates in accordance with a predetermined program together with objects in real space, a position detection part that detects the position of a work target in real space by measuring a distance to the work target from the augmented reality display part, and a control part that causes the virtual robot displayed on the augmented reality display part to operate based on the position of the work target detected by the position detection part to perform predetermined work on the work target.

A method for limiting joint velocity of a plurality of joints of a surgical robotic system, the surgical robotic system comprising a robot having a base and an arm extending from the base to an attachment for an instrument, the arm comprising a plurality of joints whereby the configuration of the arm can be altered, the method comprising: obtaining joint states for a first group of k joints of the arm, where k>1; for each of the k joints: determining from the obtained joint state a permitted range of motion for that joint; deriving, using the permitted range of motion, a joint velocity limit for that joint; selecting the minimum joint velocity limit of the k joints to be a common joint velocity limit used to limit each of the k joints individually; and calculating drive signals for driving the k joints wherein the velocity of each of the k joints is limited using the common joint velocity limit.

A method for limiting joint velocity of a plurality of joints of a surgical robotic system, the surgical robotic system comprising a robot having a base and an arm extending from the base to an attachment for an instrument, the arm comprising a plurality of joints whereby the configuration of the arm can be altered, the method comprising: obtaining joint states for a first group of k joints of the arm, where k>1; for each of the k joints: determining from the obtained joint state a permitted range of motion for that joint; deriving, using the permitted range of motion, a joint velocity limit for that joint; selecting the minimum joint velocity limit of the k joints to be a common joint velocity limit used to limit each of the k joints individually; and calculating drive signals for driving the k joints wherein the velocity of each of the k joints is limited using the common joint velocity limit.