Title:
CONTROL SYSTEM AND CONTROL METHOD FOR CONTINUUM ROBOT, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2021/261539
Kind Code:
A1
Abstract:
Provided is a setup that makes it possible to safely operate a continuum robot. A block FTL calculates a target bending angle θfFTL and a target turning angle ζfFTL for a following bending segment on the basis of the displacement of a base part and a target bending angle θlt and a target turning angle ζlt for a distal-most bending segment, a switching unit 330 performs a switching process for selecting the target bending angle θfFTL and the target turning angle ζfFTL for the following bending segment obtained by block FTL and a target bending angle θlf and a target turning angle ζlf for the following bending segment obtained by a block Pl that corresponds to a following operation means, and, on the basis of the target bending angle and the target turning angle for the following bending segment selected by the switching unit 330, a kinematics computation unit 340 computes a drive displacement for the driving of a wire of the following bending segment by a drive unit of a continuum robot.
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Inventors:
TAKAGI KIYOSHI (JP)
Application Number:
PCT/JP2021/023884
Publication Date:
December 30, 2021
Filing Date:
June 24, 2021
Export Citation:
Assignee:
CANON KK (JP)
International Classes:
B25J13/02; B25J13/00; B25J18/06
Domestic Patent References:
| WO2017033356A1 | 2017-03-02 |
Foreign References:
| JP2019058648A | 2019-04-18 | |||
| JP2019166307A | 2019-10-03 | |||
| JP2018175602A | 2018-11-15 | |||
| JP2018523508A | 2018-08-23 | |||
| JP2018176406A | 2018-11-15 | |||
| US20060178562A1 | 2006-08-10 | |||
| US20200179652A1 | 2020-06-11 |
Attorney, Agent or Firm:
ABE Takuma et al. (JP)
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