SYSTEM AND METHOD FOR CONTROLLING CONTINUUM ROBOT, AND CONTINUUM ROBOT

Abstract: a control system for a continuum robot including at least one curvable unit driven by a wire and configured to be curvable, and a driving unit driving the wire includes: a position control unit performing control so that an error between a target displacement of push-pull driving of the wire by the driving unit and a displacement of a wire holding mechanism holding the wire obtained from a continuum robot is compensated; a force control unit performing control so that an error between a target generated force corresponding to a target tension of the wire output from the position control unit and a generated force corresponding to a tension of the wire obtained from the continuum robot is compensated; and wherein a first loop control system including the force control unit and a second loop control system including the position control unit.

Inventor(s): KIYOSHI TAKAGI

CPC Classification: B25J9/1633 ({compliant, force, torque control, e.g. combined with position control})

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