CONTROL SYSTEM FOR CONTINUUM ROBOT AND CONTROL METHOD THEREFOR, AND CONTINUUM ROBOT

摘要

Provided is a mechanism that can realize high performance of positioning a bendable part at a target position without a complicated operation by an operator. A control system 10 for a continuum robot provided with at least one bendable part that is driven by a wire and is configured to be bendable and a driving unit that drives the wire, is provided with: a position control unit K_SV that performs control for making compensation for an error between a target displacement ref_z of push/pull driving of the wire by the driving unit and a displacement z_t2 of a wire holding mechanism holding the wire, the displacement being obtained from a continuum robot 100; a force control unit K_F that performs control for making compensation for an error between a target generation force ref_F corresponding to a target tensile force of the wire and outputted from the position control unit K_SV and a generation force F corresponding to the tensile force of the wire and obtained from the continuum robot 100. The control system 10 is configured from a first loop control system that includes the force control unit K_F and a second loop control system that includes the force control unit K_F and the position control unit K_SV.