A control system for a continuum robot includes a kinematics calculation unit configured to calculate a length of a wire in a bendable portion. The kinematics calculation unit includes a wire length calculation unit configured to calculate, for each of a plurality of minute sections obtained by dividing the bendable portion in a longitudinal direction thereof, a length of the wire in the minute section based on a bending angle, a turning angle, and a torsional angle of the minute section, and an addition unit configured to add the lengths of the wire in the plurality of minute sections obtained by the wire length calculation unit to calculate the length of the wire in the bendable portion.

A control system for a continuum robot includes a kinematics calculation unit configured to calculate a length of a wire in a bendable portion. The kinematics calculation unit includes a wire length calculation unit configured to calculate, for each of a plurality of minute sections obtained by dividing the bendable portion in a longitudinal direction thereof, a length of the wire in the minute section based on a bending angle, a turning angle, and a torsional angle of the minute section, and an addition unit configured to add the lengths of the wire in the plurality of minute sections obtained by the wire length calculation unit to calculate the length of the wire in the bendable portion.

The invention proposes an axis-invariant based multi-axis system modeling and control principle. Iterative modeling, real-time solution and control of multi-axis system engineering are completely solved from different levels of system topology, forward kinematics, inverse kinematics and dynamics. Parametric modeling and control is completed including topology, coordinate frame, polarity, structural parameters, mass and inertia, etc.. It can be set to circuit, code, directly or indirectly, partially or fully executed inside a multi-axis robot system. In addition, the present invention also includes analytical verification system constructed on these principles for designing and verifying a multi-axis robot system.

The present invention proposes a positive kinematic modeling and solving principle of a multi-axis system based on axis invariance. This principle realizes inherently compact, function multiplexing performance, concise hierarchical and full-parameter modeling and real-time solution, features with pseudo code and symbol analysis. It can be set as a circuit or code, directly or indirectly, partially or completely within the multi-axis machine system. In addition, the present invention also includes an analysis verification system constructed on these principles for designing and verifying multi-axis machine systems.