Control system for continuum robot, control method for continuum robot, and storage medium
AssigneeCanon Kabushiki Kaisha
InventorHidekazu Kose
Life of this patent
Estimating the term…
Abstract
A control system for a continuum robot includes a kinematics calculation unit configured to calculate a length of a wire in a bendable portion. The kinematics calculation unit includes a wire length calculation unit configured to calculate, for each of a plurality of minute sections obtained by dividing the bendable portion in a longitudinal direction thereof, a length of the wire in the minute section based on a bending angle, a turning angle, and a torsional angle of the minute section, and an addition unit configured to add the lengths of the wire in the plurality of minute sections obtained by the wire length calculation unit to calculate the length of the wire in the bendable portion.
Claims7
A control system for a continuum robot including a bendable portion configured to be bent by driving of a wire, and a drive unit configured to drive the wire, the control system comprising:
- a torsional angle acquisition unit configured to acquire a torsional angle of the bendable portion;
- and
- a kinematics calculation unit configured to calculate a length of the wire in the bendable portion based on the torsional angle acquired by the torsional angle acquisition unit,
- wherein the kinematics calculation unit includes:
- a wire length calculation unit configured to calculate, for each of a plurality of minute sections obtained by dividing the bendable portion in a longitudinal direction thereof, a length of the wire in the minute section based on a bending angle, a turning angle, and a torsional angle of the minute section;
- and
- an addition unit configured to add the lengths of the wire in the plurality of minute sections obtained by the wire length calculation unit to calculate the length of the wire in the bendable portion.
A control method for a continuum robot including a bendable portion configured to be bent by driving of a wire, and a drive unit configured to drive the wire, the control method comprising:
- acquiring a torsional angle of the bendable portion;
- and
- performing a kinematics calculation to calculate a length of the wire in the bendable portion based on the acquired torsional angle,
- wherein the kinematics calculation includes:
- performing a wire length calculation to calculate, for each of a plurality of minute sections obtained by dividing the bendable portion in a longitudinal direction thereof, a length of the wire in the minute section based on a bending angle, a turning angle, and a torsional angle of the minute section;
- and
- adding the lengths of the wire in the plurality of minute sections obtained in the wire length calculation to calculate the length of the wire in the bendable portion.
A non-transitory computer-readable storage medium storing a program for causing a computer to execute a control method for a continuum robot including a bendable portion configured to be bent by driving of a wire, and a drive unit configured to drive the wire, the control method comprising:
- acquiring a torsional angle of the bendable portion;
- and
- performing a kinematics calculation to calculate a length of the wire in the bendable portion based on the acquired torsional angle,
- wherein the kinematics calculation includes:
- performing a wire length calculation to calculate, for each of a plurality of minute sections obtained by dividing the bendable portion in a longitudinal direction thereof, a length of the wire in the minute section based on a bending angle, a turning angle, and a torsional angle of the minute section;
- and
- adding the lengths of the wire in the plurality of minute sections obtained in the wire length calculation to calculate the length of the wire in the bendable portion.
Dependencies are inferred from the claim text.