Continuum robot control system and control method, and program

Abstract

An object is to provide a mechanism that can ensure safe operation of a continuum robot. A block FTL calculates a target bending angle θand a target rotational angle ζof a following bending section on the basis of a target bending angle θand a target rotational angle ζof a distal-most bending section and a displacement of a base. A switch unitselects the target bending angle θand the target rotational angle θof the following bending section obtained from the block FTL or a target bending angle θand a target rotational angle ζof the following bending section obtained from a block Pcorresponding to following operating means. A kinematic computing unitcomputes, on the basis of the target bending angle and the target rotational angle, a drive displacement by which a driving unit drives a wire in the following bending section.