To retain an appropriate gripping force by correcting a temporal change of the gripping force of a robot hand without using a force sensor.
A current value is controlled so that the rotational speed of a driving motor for driving a plurality of finger parts may increase and decrease. Moreover, at least two pairs of the rotational speed of the driving motor and the current value are measured as a movement information during the movement of a finger part, and an upper limit current value of the driving motor is corrected based on a measured movement information. When the finger part comes into contact with an object to detect a decrease in the rotational speed of the driving motor, the object is gripped by making the current value of the driving motor an upper limit current value. In so doing, an appropriate gripping force can be retained by correcting a temporal change of the gripping force.
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YOSHIMURA KAZUTO
SAKA YOSHIO
| JPH06114763A | 1994-04-26 | |||
| JPH06278065A | 1994-10-04 | |||
| JPH10233893A | 1998-09-02 | |||
| JP2001224192A | 2001-08-17 |
Osamu Suzawa
Kazuhiko Miyasaka