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CONTINUUM ROBOT, MODIFICATION METHOD OF KINEMATIC MODEL OF CONTINUUM ROBOT, AND CONTROL METHOD OF CONTINUUM ROBOT
CONTINUUM ROBOT, MODIFICATION METHOD OF KINEMATIC MODEL OF CONTINUUM ROBOT, AND CONTROL METHOD OF CONTINUUM ROBOT
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机译:连续机器人,连续机器人运动学模型的修正方法以及连续机器人的控制方法
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摘要
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.
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