Patent attributes
A manipulator system initialization method includes: a joint angle setting step of bringing a driving force relay part into a driving force release state, inserting a bending joint and a pair of shaft-shaped parts coupled by the bending joint into a shape defining member having a shape defining part that brings a joint angle of the bending joint to a predetermined value, and setting a joint angle of the bending joint to the predetermined value; a drive part coupling step of switching the driving force relay part to a driving force relay state, with respect to the bending joint of which the joint angle is set; and an origin setting step of associating a state of the joint angle of the bending joint with a drive origin of a drive part after the drive part coupling step is performed.
