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:
Oct. 11, 2022
Filed:
Jul. 09, 2020
Applicant:
Canon Kabushiki Kaisha, Tokyo, JP;
Inventors:
Assignee:
Canon Kabushiki Kaisha, Tokyo, JP;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B25J 9/16 (2006.01); B25J 9/10 (2006.01); B25J 13/08 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1697 (2013.01); B25J 9/104 (2013.01); B25J 9/1664 (2013.01); B25J 13/08 (2013.01);
Abstract
A control apparatus for a continuum robot including a curved portion that is curved by driving a wire with a driving mechanism includes an image DB/torsional-amount acquisition unit that obtains the torsional amount of the continuum robot and a kinematic operation unit that sets the driving displacement amount of the wire driven by the driving mechanism on the basis of the torsional amount obtained by the image DB/torsional-amount acquisition unit.