System und Verfahren zur Steuerung eines Kontinuumroboters bei der Inspektion oder Reparatur einer Komponente

Details

Veröffentlichungs-Nr.

EP4817808

Anmeldetag

2. März 2026

Veröffentlichung

7. Oktober 2026

Rechtsraum

EP

Abstract

A system (100, 200, 300, 700) for controlling a continuum robot (102, 202, 302, 702) whilst inspecting or repairing a component (104) includes a sensor (106, 206, 306, 706) that includes a Fibre Bragg grating sensor, is disposed in a helical arrangement (110) and indicates a curvature of the sensor. The sensor further includes one or more sensing components (708) embedded therein configured to generate information indicative of the current shape of the sensor at different portions of the sensor. The system further includes a controller (116) configured to receive, from the sensor, the curvature of the sensor, determine a current shape of the sensor based at least on the curvature of the sensor, determine a current shape (κ(s)) of the continuum robot based at least on the current shape of the sensor, and adjusting the current shape (κ(s)) to a desired shape of the continuum robot.

Anmelder

Firma

Rolls-Royce plc

Land

🇬🇧 Großbritannien