MANIPULATOR CONTROL METHOD, MANIPULATOR, AND MANIPULATOR SYSTEM

摘要

This manipulator control method is a control method for a manipulator that is sent to the site where used by being inserted through a channel member and that is provided with an articulated structure that has one or more joints and is connected to the tip of an insertion section, a power transmission member inserted through the inside of the insertion section to transmit drive power to the articulated structure, and a drive unit to drive the power transmission member. The manipulator control method is provided with an insertion control mode for inserting the articulated structure through the inside of the channel member. With the insertion control mode, the load generated in the power transmission member or in the drive unit is detected and the articulated structure is bent to follow the channel member by controlling the amount by which the drive transmission member is driven by the drive unit so that the load is in a pre-established target control range.