Title:
連続体ロボット、連続体ロボットの運動学モデルの補正方法、および連続体ロボットの制御方法
Document Type and Number:
Japanese Patent JP6733046
Kind Code:
B2
Abstract:
To provide a technology of reducing a difference with respect to a target position of a curvable portion of a continuum robot which is to move forward substantially along a trajectory including a branched trajectory and a space. A continuum robot includes a plurality of curvable portions separately driven by wires, and control units which control positions of a plurality of curvable portions in accordance with a kinematic model. A modification value for modifying the kinematic model based on a target position and a measured position about each of the cases in which the plurality of curvable portions take a plurality of positions having at least one intersection is calculated. Modification uses a modification result in at least one of the plurality of positions as an initial value to modify the kinematic model in another position, and synthesizes the plurality of modification values.
Inventors:
High Ki Kiyoshi
Application Number:
JP2019510717A
Publication Date:
July 29, 2020
Filing Date:
August 10, 2017
Export Citation:
Assignee:
Canon Inc
International Classes:
B25J18/06; A61M25/092; B25J9/16
Domestic Patent References:
| JP2013132731A |
Foreign References:
| US20160067450 |
Attorney, Agent or Firm:
Takayoshi Kokubun