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Title:
CONTINUUM ROBOT CONTROL DEVICE, CONTINUUM ROBOT CONTROL METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2019/181694
Kind Code:
A1
Abstract:
A continuum robot control device, configured to control operations of a continuum robot having a bendable portion that is bent by driving at least part of a plurality of wires, includes a kinematics computing unit that computes a driving amount lk1b of the at least part of the plurality of wires, based on a target bending angle that is a target value for a bending angle of the bendable portion, a compensation amount computing unit that computes a compensation amount for compensation of the driving amount lk1b, based on the target bending angle, and a displacement of one of the plurality of wires at the target bending angle, and an adding unit and position control unit that set a driving control amount of performing driving control of the at least part of the plurality of wires, based on the driving amount and the compensation amount obtained by computation.

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Inventors:
KOSE Hidekazu (C/O CANON KABUSHIKI KAISHA, 30-2Shimomaruko 3-chome,Ohta-k, Tokyo 01, 〒1468501, JP)
Application Number:
JP2019/010331
Publication Date:
September 26, 2019
Filing Date:
March 13, 2019
Export Citation:
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Assignee:
CANON KABUSHIKI KAISHA (30-2, Shimomaruko 3-chomeOhta-k, Tokyo 01, 〒1468501, JP)
International Classes:
A61B1/005; A61B1/008; B25J9/10; B25J18/06; G02B23/24
Domestic Patent References:
WO2018012360A12018-01-18
WO2016136353A12016-09-01
WO2015042453A12015-03-26
Foreign References:
US20130345877A12013-12-26
US9333650B22016-05-10
EP3025632A12016-06-01
JP2010220961A2010-10-07
US20180296282A12018-10-18
US20180304458A12018-10-25
Other References:
XU KAI ET AL.: "An Experimental Kinestatic Comparison between Continuum Manipulators with Structural Variations", IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA, 2014, pages 3258 - 3264, XP032650139, DOI: 10.1109/ICRA.2014.6907327
KATO TAKAHISA: "Extended Kinematic Mapping of Tendon-Driven Continuum Robot for Neuroendoscopy", IEEE /RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2014, pages 1997 - 2002, XP032677071, DOI: 10.1109/IROS.2014.6942828
XIAOQI ZHOU ET AL.: "Analysis of Under-Actuated Snake Arm Robot", 3RD INTERNATIONAL CONFERENCE ON ELECTROMECHANICAL CONTROL TECHNOLOGY AND TRANSPORTATION (ICECTT 2018, January 2018 (2018-01-01), pages 414 - 422, XP055641204
Attorney, Agent or Firm:
ABE TAKUMA et al. (C/O CANON KABUSHIKI KAISHA, 30-2Shimomaruko 3-chome,Ohta-k, Tokyo 01, 〒1468501, JP)
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