CONTROL SYSTEM FOR CONTINUUM ROBOT, CONTROL METHOD FOR CONTINUUM ROBOT, AND STORAGE MEDIUM

摘要

A control system for a continuum robot includes a kinematics calculation unit configured to calculate a length of a wire in a bendable portion. The kinematics calculation unit includes a wire length calculation unit configured to calculate, for each of a plurality of minute sections obtained by dividing the bendable portion in a longitudinal direction thereof, a length of the wire in the minute section based on a bending angle, a turning angle, and a torsional angle of the minute section, and an addition unit configured to add the lengths of the wire in the plurality of minute sections obtained by the wire length calculation unit to calculate the length of the wire in the bendable portion.