Title:
連続体ロボットの制御システム及びその制御方法、並びに、連続体ロボット
Document Type and Number:
Japanese Patent JP7379208
Kind Code:
B2
Abstract:
To provide a mechanism capable of realizing high positioning performance of a curvable unit to a target position without complicated operation by an operator. A control system 10 for a continuum robot including at least one curvable unit driven by a wire and configured to be curvable, and a driving unit driving the wire includes: a position control unit KSV performing control so that an error between a target displacement refz of push-pull driving of the wire by the driving unit and a displacement zt2 of a wire holding mechanism holding the wire obtained from a continuum robot 100 is compensated; a force control unit KF performing control so that an error between a target generated force refF corresponding to a target tension of the wire output from the position control unit Ksv and a generated force F corresponding to a tension of the wire obtained from the continuum robot 100 is compensated; and wherein a first loop control system including the force control unit KF and a second loop control system including the position control unit Ksv.
Inventors:
▲高▼木 清志
Application Number:
JP2020028813A
Publication Date:
November 14, 2023
Filing Date:
February 21, 2020
Export Citation:
Assignee:
Canon Inc
International Classes:
B25J17/00; G05B11/36
Domestic Patent References:
| JP2019202137A | ||||
| JP2019166307A | ||||
| JP201958648A | ||||
| JP2018523508A | ||||
| JP720943A | ||||
| JP201131354A | ||||
| JP631662A | ||||
| JP20162414A | ||||
| JP2310609A |
Attorney, Agent or Firm:
Koetsu Kokubun
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