US 11,850,014 B2
Control system, control method, and surgical arm system
Yasuhiro Matsuda, Tokyo (JP); Jun Arai, Kanagawa (JP); Takara Kasai, Kanagawa (JP); Yohei Kuroda, Tokyo (JP); and Wataru Kokubo, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Filed by Sony Group Corporation, Tokyo (JP)
Filed on Jun. 2, 2022, as Appl. No. 17/830,350.
Application 17/830,350 is a continuation of application No. 16/484,467, granted, now 11,395,709, previously published as PCT/JP2018/000665, filed on Jan. 12, 2018.
Claims priority of application No. 2017-035965 (JP), filed on Feb. 28, 2017.
Prior Publication US 2022/0287787 A1, Sep. 15, 2022
Int. Cl. G05B 15/00 (2006.01); G05B 19/00 (2006.01); A61B 34/37 (2016.01); B25J 9/16 (2006.01); B25J 9/00 (2006.01); A61B 34/20 (2016.01); A61B 90/50 (2016.01); A61G 13/04 (2006.01)
CPC A61B 34/37 (2016.02) [B25J 9/0096 (2013.01); B25J 9/1633 (2013.01); A61B 90/50 (2016.02); A61B 2034/2059 (2016.02); A61G 13/04 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A control system, comprising:
processing circuitry configured to
acquire inclination information of a device;
set a computational condition including gravity compensation in a direction set according to the inclination information;
calculate a command value to control the device according to the computational condition; and
control the device according to the command value.