| 摘要 |
Provided is a manipulator system (100) comprising a manipulator (1) that includes an insertion part (5) having a main section and a bending section (15), a bending-section driving portion (12) that makes the bending section (15) perform bending movement, and a linear member inserted through a sheath that is fixed to the main section at at least one end thereof, the linear member connecting the bending section (15) and the bending-section driving portion (12) through the main section and transmitting a driving force generated by the bending-section driving portion (12) to the bending section (15); an operation input unit (2) via which an operation instruction to the bending section (15) is input; a sheath-tension detecting portion (18) that detects the tension in the sheath; a compensation-value setting portion (3) that sets a compensation value for a bending control signal on the basis of the tension in the sheath detected by the sheath-tension detecting portion (18), and a control unit (3) that generates the bending control signal for driving the bending-section driving portion (12) and sends the bending control signal corrected with the compensation value to the bending-section driving portion (12). |
