Methods, apparatus, computer programs and non-transitory computer readable storage mediums for controlling a hyper redundant manipulator

摘要

Methods of controlling a hyper redundant manipulator, the hyper redundant manipulator including: a plurality of sections comprising a first free end section and a second end section; and a base arranged to receive the plurality of sections in a coiled configuration, the base being coupled to the second end section of the plurality of sections, the method comprising: receiving a trajectory for movement of the plurality of sections; determining an error in position and/or orientation relative to the trajectory for one or more sections of the plurality of sections, the error being caused at least in part by the coiled configuration; and controlling movement of the one or more sections using the determined error to compensate for the error in position and/or orientation of the one or more sections.