| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot hand control method that enables highly accurate adjustment of gripping force, and to provide a robot device with a simple structure, which enables highly accurate adjustment of gripping force.SOLUTION: When changing a gripping force value for gripping a workpiece W being gripped by fingers 11a, 11b at a first gripping force value, a hand controller executes a position calculation process and a gripping force change process. At the position calculation process, on the basis of a correlation value indicating relationship between gripping force of the fingers 11a, 11b and positions of fixed portions 112a, 112b, the first gripping force value, and a second gripping force value being a target value of gripping force, there are calculated positions of the fixed portions 112a, 112b when the workpiece is gripped at the second gripping force value. At the gripping force change process, the amount of drive of a motor 12, needed to move the fingers 11a, 11b to the calculated positions of the fixed portions 112a, 112b is calculated, and the motor 12 is driven.SELECTED DRAWING: Figure 2 |
