Title:
CONTROL DEVICE OF HAND MECHANISM
Document Type and Number:
Japanese Patent JP3202456
Kind Code:
B2
Abstract:
PURPOSE: To provide the control device of a hand mechanism which can decide whether the grasping is succeeded or failed without installing a sensor and the like to a finger.
CONSTITUTION: The first object position setting device 19 to set the first object position to grasp a work by a finger, grasping force control devices 14 and 15 to control the driving source of the finger so as to move the finger to the first object position in the condition device maintaining a specific grasping force, and a speed detecting device 13 to detect the moving speed of the finger depending on the output of a position detecting device 102, are provided. Furthermore, a grasping detecting device 18 to decide whether the finger grasps a work or not by comparing the present position and the first object position of the finger, after it is decided that the moving speed of the finger maintained at a specific grasping force is made zero, is also provided.
Inventors:
Taketo Yamaguchi
Katsumi Ishihara
Toshihiro Yamamoto
Katsumi Ishihara
Toshihiro Yamamoto
Application Number:
JP31305393A
Publication Date:
August 27, 2001
Filing Date:
December 14, 1993
Export Citation:
Assignee:
Canon Inc
International Classes:
B25J13/00; B25J13/08; B25J15/00; (IPC1-7): B25J13/00; B25J13/08; B25J15/00
Domestic Patent References:
| JP4164589A |
Attorney, Agent or Firm:
Yasunori Otsuka (1 person outside)