首页>
外国专利>
SYSTEMS AND METHODS FOR SAFE COMPLIANT INSERTION AND HYBRID FORCE/MOTION TELEMANIPULATION OF CONTINUUM ROBOTS
SYSTEMS AND METHODS FOR SAFE COMPLIANT INSERTION AND HYBRID FORCE/MOTION TELEMANIPULATION OF CONTINUUM ROBOTS
展开▼
机译:连续机器人的安全插入和混合力/运动远距离操纵的系统和方法
展开▼
页面导航
摘要
著录项
相似文献
摘要
Methods and systems are described for controlling movement of a continuum robot that includes a plurality of independently controlled segments along the length of the continuum robot. The continuum robot is inserted into a cavity of unknown dimensions or shape. A plurality of forces acting upon the continuum robot by the surrounding cavity are estimated. A positioning command indicating a desired movement of the distal end of the continuum robot is received from a manipulator control. The desired movement is augmented based, at least in part, on the estimated plurality of forces acting on the continuum robot such that movement is restricted to within safe boundaries of the surrounding cavity. The positioning of the continuum robot is then adjusted based on the augmented desired movement.
展开▼