Continuum robot, modification method of kinematic model of continuum robot, and control method of continuum robot

摘要

A continuum robot includes a curvable first curvable portion, a curvable second curvable portion provided adjacent to the first curvable portion, a first wire connected to the first curvable portion, a second wire connected to the second curvable portion, and a control unit which controls curves of the first curvable portion and the second curvable portion by controlling driving of the first wire and the second wire. The control unit controls driving of the first wire and the second wire on the basis of a kinematic model in consideration of a curve of the second curvable portion accompanying driving the first wire and a curve of the first curvable portion accompanying driving of the second wire. Alternatively, the control unit controls driving of the first wire and the second wire so that a curve target value of the first curvable portion is achieved by the sum of curved amounts of the first curvable portion and the second curvable portion.