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:
Aug. 10, 2021
Filed:
Apr. 13, 2018
Applicant:
Canon Kabushiki Kaisha, Tokyo, JP;
Inventor:
Kiyoshi Takagi, Tokyo, JP;
Assignee:
CANON KABUSHIKI KAISHA, Tokyo, JP;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G05B 19/18 (2006.01); B25J 9/10 (2006.01); B25J 18/06 (2006.01);
U.S. Cl.
CPC ...
B25J 9/104 (2013.01); B25J 18/06 (2013.01); Y10S 901/09 (2013.01); Y10S 901/21 (2013.01); Y10S 901/27 (2013.01);
Abstract
A kinematic model arithmetic portion calculates a coordinate value (z(θ)) as distance information indicating the distance between a member that serves as a reference surface for the curve shape of a curvable portion and a member in the curvable portion that is closest to the reference surface. A switch determination unit determines based on the coordinate value whether to drive a wire for driving the curvable portion by a drive displacement calculated for the wire along with the coordinate value by the kinematic model arithmetic portion.