| CPC B25J 9/104 (2013.01) [B25J 13/088 (2013.01); B25J 18/06 (2013.01)] | 6 Claims |
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1. A continuum robot control system for controlling a continuum robot that includes a bendable portion having a plurality of bending sections bent by being driven by a wire, a base configured to support the bendable portion, and a driving unit configured to drive the wire, the continuum robot control system comprising:
following calculating means for calculating a target bending angle and a target rotational angle of a following bending section of the plurality of bending sections on the basis of a target bending angle and a target rotational angle of a distal-most bending section of the plurality of bending sections and a displacement of the base in a direction of movement of the continuum robot, the distal-most bending section being located farthest from the base, the following bending section being located between the distal-most bending section and the base;
following operating means for receiving a target bending angle and a target rotational angle of the following bending section by being operated;
following switching means for performing a switching operation for selecting the target bending angle and the target rotational angle of the following bending section obtained from the following calculating means or the target bending angle and the target rotational angle of the following bending section obtained from the following operating means;
computing means for computing, on the basis of the target bending angle and the target rotational angle of the following bending section selected by the following switching means, a drive displacement by which the driving unit drives the wire in the following bending section;
storage means for storing the target bending angle and the target rotational angle of the distal-most bending section;
distal-most calculating means for calculating the target bending angle and the target rotational angle of the distal-most bending section on the basis of the target bending angle and the target rotational angle of the distal-most bending section stored in the storage means and the target bending angle and the target rotational angle of the following bending section received by the following operating means;
distal-most operating means for receiving a target bending angle and a target rotational angle of the distal-most bending section by being operated; and
distal-most switching means for performing a switching operation for selecting the target bending angle and the target rotational angle of the distal-most bending section obtained from the distal-most calculating means or the target bending angle and the target rotational angle of the distal-most bending section obtained from the distal-most operating means,
wherein the computing means further computes, on the basis of the target bending angle and the target rotational angle of the distal-most bending section selected by the distal-most switching means, a drive displacement by which the driving unit drives the wire in the distal-most bending section; and
in a case where an operator's contact with the following operating means is detected, the distal-most switching means performs a switching operation for selecting the target bending angle and the target rotational angle of the distal-most bending section obtained from the distal-most calculating means.
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