Title:
CONTROL SYSTEM FOR CONTINUUM ROBOT, AND CONTROL METHOD FOR SAME
Document Type and Number:
WIPO Patent Application WO/2023/022056
Kind Code:
A1
Abstract:
Provided is a mechanism that, when there are a plurality of drive control units with different backdrivability as a drive control unit for bending a bendable unit, enables appropriate switching of the drive control units while reducing the burden on an operator. A control system comprises: a kinematics calculation unit 230 that calculates, from a bending angle of a bendable unit of a continuum robot 100, an amount of a wire driven by a drive unit; a low backdrivability drive control unit 251 that controls the amount of the wire driven by the dive unit, on the basis of a result of the kinematics calculation; a high backdrivability drive control unit 252 that is a drive control unit with which the drive unit is more easily driven in a reverse direction than with drive control by the drive control unit 251 when the bendable unit receives external force, and that controls the amount of the wire driven by the dive unit, on the basis of the result of the kinematics calculation; and a switching control unit 220 that performs control for switching between the drive control unit 251 and the drive control unit 252, in accordance with a mode signal indicating a drive control unit to be selected, or a result of detecting force applied to the wire.
Inventors:
TAKAGI KIYOSHI (JP)
Application Number:
PCT/JP2022/030368
Publication Date:
February 23, 2023
Filing Date:
August 09, 2022
Export Citation:
Assignee:
CANON KK (JP)
International Classes:
B25J9/10; A61B1/005; B25J17/00; B25J18/06
Foreign References:
| JP2019166307A | 2019-10-03 | |||
| JP2013244595A | 2013-12-09 | |||
| JP2018171701A | 2018-11-08 | |||
| JP2018523508A | 2018-08-23 | |||
| JP2016002414A | 2016-01-12 | |||
| JP6169049B2 | 2017-07-26 | |||
| JP2021134195A | 2021-09-13 |
Attorney, Agent or Firm:
OKABE Yuzuru et al. (JP)
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