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CONTINUUM ROBOT CONTROL DEVICE, CONTINUUM ROBOT CONTROL METHOD, AND PROGRAM
CONTINUUM ROBOT CONTROL DEVICE, CONTINUUM ROBOT CONTROL METHOD, AND PROGRAM
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机译:连续式机器人控制装置,连续统一体控制方法和程序
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摘要
A continuum robot control device, configured to control operations of a continuum robot having a bendable portion that is bent by driving at least part of a plurality of wires, includes a kinematics computing unit that computes a driving amount lk1b of the at least part of the plurality of wires, based on a target bending angle that is a target value for a bending angle of the bendable portion, a compensation amount computing unit that computes a compensation amount for compensation of the driving amount lk1b, based on the target bending angle, and a displacement of one of the plurality of wires at the target bending angle, and an adding unit and position control unit that set a driving control amount of performing driving control of the at least part of the plurality of wires, based on the driving amount and the compensation amount obtained by computation.
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