Robot arm apparatus, robot arm control method, and program

A medical support arm apparatus including: an arm unit including a plurality of links joined to each other by one or a plurality of a joint unit; and a driving control unit that drives the arm unit by controlling driving of the joint unit. If a malfunction is detected in at least one of the joint un...

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Bibliographic Details
Main Authors Kamikawa, Yasuhisa, Kokubo, Wataru, Fukushima, Tetsuharu, Miyamoto, Atsushi, Kasai, Takara, Matsuda, Yasuhiro, Tsuboi, Toshimitsu, Kuroda, Yohei
Format Patent
LanguageEnglish
Published 28.05.2019
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
DIAGNOSIS
HAND TOOLS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MANIPULATORS
MEDICAL OR VETERINARY SCIENCE
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
SURGERY
TRANSPORTING
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Summary:A medical support arm apparatus including: an arm unit including a plurality of links joined to each other by one or a plurality of a joint unit; and a driving control unit that drives the arm unit by controlling driving of the joint unit. If a malfunction is detected in at least one of the joint unit, the driving control unit controls the driving of the joint unit in a state in which a certain restriction is imposed on motion of the arm unit, and drives the arm unit to avoid the malfunction.
Bibliography:Application Number: US201515120616