To provide a robot hand and a control method for performing smooth holding operation for various objects different in size.
This robot hand is provided with at least two finger mechanisms 5. Each finger mechanism includes: a plurality of link members 6 sequentially connected through a plurality of finger joints 8, wherein a contact sensor 7 for detecting contact with a holding object B is mounted on the link member 6, and an angle sensor 9 for detecting an opening angle θ of the link member 6 is mounted on the finger joint 8. The finger mechanism further includes: a contact detecting part 11A for detecting contact with the holding object B with a plurality of contact sensors 7; an angle detecting part 11B for detecting the opening angle θ of the link member 6 with the angle sensor 9 when the contact between the plurality of contact sensors 7 and the holding object B is detected by the contact detecting part 11A; an outline shape calculating part 13B for calculating the outline shape of the holding object B on the basis of the opening angle θ of the link member 6 detected by the angle detecting part 11B; and an operation determining part 13C for determining the holding operation suitable for the holding body B from the outline shape obtained by the outline shape calculating part 13B.
TAMURA HISAHIRO
| JPH08323678A | 1996-12-10 | |||
| JPH0929674A | 1997-02-04 | |||
| JPH0446788A | 1992-02-17 | |||
| JPS61187690U | 1986-11-22 |
Ryuichi Kijima
Toru Enya
Ichiro Kaneko