PURPOSE: To prolong the life of an end effector by providing a sensor for detecting a force applied to the end effector and a means for performing feedback control for a controller for the driving system of the capturing part of the end effector so as to keep a detected value thereof equal to a set value or lower.
CONSTITUTION: A force (or torque) sensor 607 incorporated in an end effector detects a force (or torque) F applied to the capturing part 206 of the end effector, a capturing motive power transmission element or a driving system 201 for generating capturing motive power in the capturing part 206 during the capturing operation of the end effector. The servo controller of the driving system 201 feeds back this detected signal, and performs servo control for the motor 603 of the driving system 201 so as to prevent a force (or torque) from exceeding a set value. Thus, no loads over the set value are placed on the end effector, and a load placed on the transmission element is reduced.
NOGUCHI NAOKI
KURAOKA KESATOSHI
NAT SPACE DEV AGENCY
Next Patent: PIPING STRUCTURE IN VICINITY OF INNER FORCE SENSOR