Back to results
US 12,734,679 B2Granted
Continuous robot control system, control method of continuous robot, and storage medium
AssigneeCanon Kabushiki Kaisha
InventorKiyoshi Takagi
Life of this patent
Estimating the term…
Abstract
A continuous robot control system executes control which brings a continuous robot into a state where a most distal bending portion (leading bending portion) bends at a third bending angle between a bending angle b (second bending angle) and a bending angle e (first bending angle) with respect to a reference axis while a base is being located at a position between a position c (third position) and a position e (first position), when the distal bending portion is extracted from a tube by making the continuous robot move backward, after the distal bending portion is inserted into an inner portion of the tube by making the continuous robot move forward.
Claims9
A continuous robot control system that executes control of a continuous robot comprising:
- a base configured to make the continuous robot move forward and backward by moving;
- a distal bending portion configured to bend by driving of distal linear members;
- at least one actuator each configured to drive corresponding one of the distal linear members;
- and
- joining portions arranged between the distal bending portion and the base,
- the continuous robot control system comprising;
- and
- a controller configured to control the continuous robot to bring the continuous robot into a fourth state where the distal bending portion bends at a third bending angle between a second bending angle and a first bending angle with respect to a reference axis while the base is being located at a position between a third position and a first position, when the distal bending portion is extracted from a tube by making the continuous robot move backward, after the distal bending portion is inserted into an inner portion of the tube by changing a state of the continuous robot in order of a first state where the distal bending portion bends at the first bending angle with respect to the reference axis while the base of the continuous robot is being located at the first position, a second state where the base is being located at a second position by moving forward from the first position and the distal bending portion bends at the second bending angle different from the first bending angle with respect to the reference axis, and a third state where the base is located at the third position by moving forward from the second position,
- wherein the controller is further configured to control the continuous robot such that, after the base reaches a position further backward than the position in the fourth state in a backward movement, the distal bending portion bends at the first bending angle with respect to the reference axis, and
- wherein, during the backward movement of the base, a displacement amount of the base from a start to a completion of an angle change of the distal bending portion from the second bending angle to the first bending angle is larger than a displacement amount of the base from a start to a completion of an angle change of the distal bending portion from the first bending angle to the second bending angle during the forward movement.
7 more elements
A control method of a continuous robot for executing control of a continuous robot comprising:
- a base configured to make the continuous robot move forward and backward by moving;
- a distal bending portion configured to bend by driving of distal linear members;
- at least one actuator each configured to drive corresponding one of the distal linear members;
- and
- joining portions arranged between the distal bending portion and the base,
- the control method of the continuous robot comprising:
- making the continuous robot move forward and backward;
- and
- controlling the continuous robot to bring the continuous robot into a fourth state where the distal bending portion bends at a third bending angle between a second bending angle and a first bending angle with respect to a reference axis while the base is being located at a position between a third position and a first position, when the distal bending portion is extracted from a tube by making the continuous robot move backward, after the distal bending portion is inserted into an inner portion of the tube by changing a state of the continuous robot in order of a first state where the distal bending portion bends at the first bending angle with respect to the reference axis while the base of the continuous robot is being located at the first position, a second state where the base is being located at a second position by moving forward from the first position and the distal bending portion bends at the second bending angle different from the first bending angle with respect to the reference axis, and a third state where the base is located at the third position by moving forward from the second position,
- wherein, in the controlling, the continuous robot is controlled such that, after the base reaches a position further backward than the position in the fourth state in a backward movement, the distal bending portion bends at the first bending angle with respect to the reference axis, and
- wherein, during the backward movement of the base, a displacement amount of the base from a start to a completion of an angle change of the distal bending portion from the second bending angle to the first bending angle is larger than a displacement amount of the base from a start to a completion of an angle change of the distal bending portion from the first bending angle to the second bending angle during the forward movement.
8 more elements
Dependencies are inferred from the claim text.