Robot control methods

A robot control method of controlling a robot that has a flexible module including ‘n’ first nodes participating in pan motion, the robot control method comprising:

• measuring a translational motion distance and a pan motion angle of the flexible module;
• calculating state vectors of the ‘n’ first nodes using the measured translational motion distance;
• calculating operating angle distribution rates of the ‘n’ first nodes using the calculated state vectors of the ‘n’ first nodes;
• calculating operating angles of the ‘n’ first nodes using the calculated operating angle distribution rates and the measured pan motion angle;
• estimating a position of an end of the flexible module using the calculated operating angles;
• and
• controlling the flexible module based on the estimated position of the end of the flexible module.

A robot control method of controlling a robot that has a flexible module including ‘n’ first nodes participating in tilt motion, the robot control method comprising:

• measuring a translational motion distance and a tilt motion angle of the flexible module;
• calculating state vectors of the ‘n’ first nodes using the measured translational motion distance;
• calculating operating angle distribution rates of the ‘n’ first nodes using the calculated state vectors of the ‘n’ first nodes;
• calculating operating angles of the ‘n’ first nodes using the calculated operating angle distribution rates and the measured tilt motion angle;
• estimating a position of an end of the flexible module using the calculated operating angles;
• and
• controlling the flexible module based on the estimated position of the end of the flexible module.