The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 01, 2020
Filed:
Apr. 11, 2018
Canon Kabushiki Kaisha, Tokyo, JP;
Hidekazu Kose, Tokyo, JP;
Kiyoshi Takagi, Tokyo, JP;
CANON KABUSHIKI KAISHA, Tokyo, JP;
Abstract
Provided is a control apparatus for a continuum robot system includes: a continuum robot (), which includes a plurality of curvable portions () provided in series in a longitudinal axial direction thereof and each being curvable, and is capable of being moved in the longitudinal axial direction; a drive unit () configured to move the continuum robot () in the longitudinal axial direction; and a plurality of angle control motors () configured to change a distal-end angle (θ, θ) for each of the plurality of curvable portions (). The control apparatus includes a drive unit speed calculation/control unit () configured to calculate a followable speed, and to control the drive unit (). The drive unit speed calculation/control unit () controls the drive unit () to move the continuum robot at a speed equal to or lower than the followable speed.