Title:
FLEXIBLE MECHANICAL ARM CONTROL METHOD AND ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2022/062631
Kind Code:
A1
Abstract:
A flexible mechanical arm control method and a robot system. The control method comprises the following steps: obtaining a total amount of angular displacement of a joint output end of a flexible mechanical arm (110) moving in a first direction when the load of the joint output end changes; and driving the joint output end to move in a second direction according to the total amount of angular displacement, such that the joint output end is restored to a pose before the load changes, the second direction being opposite to the first direction. According to the method, the pose of the joint output end can be kept when the load of the joint output end of the flexible mechanical arm (110) changes, so as to facilitate a doctor to execute predetermined surgical operation at the fixed pose.
Inventors:
SUN FENG (CN)
PENG WEILI (CN)
LI TAO (CN)
HE CHAO (CN)
PENG WEILI (CN)
LI TAO (CN)
HE CHAO (CN)
Application Number:
PCT/CN2021/108600
Publication Date:
March 31, 2022
Filing Date:
July 27, 2021
Export Citation:
Assignee:
SUZHOU MICROPORT ORTHOBOT CO LTD (CN)
International Classes:
B25J9/16
Foreign References:
| JPH05138562A | 1993-06-01 | |||
| CN112171674A | 2021-01-05 | |||
| CN111055285A | 2020-04-24 | |||
| CN110154065A | 2019-08-23 | |||
| CN109129475A | 2019-01-04 | |||
| US20130184869A1 | 2013-07-18 |
Attorney, Agent or Firm:
SHANGHAI SAVVY IP AGENCY CO., LTD. (CN)
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