Title:
マニピュレータシステム及びマニピュレータの制御方法
Document Type and Number:
Japanese Patent JP5017076
Kind Code:
B2
Abstract:
A medical manipulator system includes a manipulator including a working unit having a distal-end working unit, the attitude of which can be changed by a motor, and a controller for controlling the manipulator. When the controller performs an origin return process for moving a gripper of the distal-end working unit to an origin position at an end of an operating range thereof, the controller issues a first control target value to the motor indicative of a virtual position beyond the origin. Thereafter, the controller issues a second control target value to the motor indicative of the origin. The first control target value represents a position, which is over from the origin P0 by a distance greater than a value corresponding to an error epsilon between a control target position for the gripper and the actual position thereof.
Inventors:
Takamitsu Sunaoshi
Makoto Kamino
Ryohei Katsuki
Makoto Kamino
Ryohei Katsuki
Application Number:
JP2007329772A
Publication Date:
September 05, 2012
Filing Date:
December 21, 2007
Export Citation:
Assignee:
Terumo Corporation
Toshiba Corporation
Toshiba Corporation
International Classes:
B25J9/10; A61B19/00; B25J9/08; B25J13/00; B25J15/08
Domestic Patent References:
| JP2001334481A | ||||
| JP62094245A | ||||
| JP2007290096A | ||||
| JP2006122473A |
Attorney, Agent or Firm:
Takehiro Chiba
Toshiyuki Miyadera
Naoki Kashima
Yasuo Takubo
Shuji Ouchi
Toshiyuki Miyadera
Naoki Kashima
Yasuo Takubo
Shuji Ouchi