Continuum Robot Relative Coordinate Control for Intuitive Bending
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Solution Overview
Problem
Existing continuum robot control methods make it difficult for operators to intuitively operate the bendable unit when a camera is mounted at the distal end, as they struggle to grasp the bending conditions of follower bending sections without direct visual access.
Innovation Solution
A continuum robot control system that defines a predetermined position on the follower fixed member as an origin and sets reference axes for a relative coordinate system, allowing the drive unit to control the distal bending section based on this system, enabling intuitive operation even when the operator cannot look down on the robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If a coordinate system is established on a slide stage with the continuum robot fixed thereon, then the operator can grasp the correspondence between the coordinate system and the front end of the continuum robot, but the operator cannot intuitively operate the bendable unit when using a camera at the distal end
Solution Approach 1:
The patent creates a virtual coordinate system that replicates the spatial relationship between the continuum robot and the camera. This virtual coordinate system is displayed on a display device, allowing the operator to intuitively control the robot by manipulating the displayed image, thereby resolving the contradiction between understanding the coordinate system and intuitively operating the robot through camera viewing.
Solution Approach 2:
The display device serves as an intermediary between the operator and the continuum robot. It presents a virtual coordinate system that mediates the operator's control inputs, enabling intuitive operation through the camera view while maintaining accurate coordinate system correspondence.
2Reliability
If the bending angle of the most distal bending section is continuously propagated to the following bending section over a virtual section length, then contact with surrounding obstacles is reduced, but the operator finds it difficult to grasp the bending conditions of follower bending sections
Solution Approach 1:
The patent displays the bending conditions of all bending sections, including follower sections, in the virtual coordinate system on the display device. This visual copy allows the operator to grasp the bending conditions of follower sections while the control system continues to propagate bending angles to reduce obstacle contact in narrow spaces.
Solution Approach 2:
The patent segments the bendable unit into multiple bending sections, each with its own bending angle that can be independently controlled and displayed. This segmentation allows the operator to understand the bending conditions of each section while the control system manages the propagation to prevent obstacle contact.
Data Source
AI summary
A control unit that controls the motion of a continuum robot including a bendable unit having a plurality of bending sections, defines a predetermined position on a wire guide located most distal from a base in the second bending section, which is a follower bending section, as an origin, sets reference axes for a direction in which the wire guide is facing, and causes a drive unit in the base to drive a wire of the third bending section so that the third bending section, which is a distal bending section, is bent on the basis of a relative coordinate system in which the origin and the reference axes relating to the wire guide vary in accordance with the movement of the continuum robot.