| 摘要 |
A controller includes a servo controller that performs attitude control of the bending portion. A point lock computing section is provided at the servo controller. Based on supplied distal end command value information and position F/B information, the point lock computing section performs computational processing by a distal end link root coordinate position calculating section and an inverse kinematics computing section in order to obtain a servo position command signal for a distal end-side link member and a servo position command signal for a link member other than the link member, and outputs the same to a driving section. Accordingly, point lock is enabled at two locations, namely, the distal end-side link member and an arbitrary link member, while other link members are controlled so as to assume attitudes having redundancy.
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