| 摘要 |
PROBLEM TO BE SOLVED: To provide a grip control device of a gripping device which can simplify the structure and can reduce the production cost without any need for exclusive sensor for detecting external force. SOLUTION: The external force applied to a movable section is estimated by the change in the rotating angle of a motor and current detection value. When the estimated external force falls within a specified range, position control is stopped and the current is controlled to a gripping force application setting current value 19 by a current controlling means 14. COPYRIGHT: (C)2009,JPO&INPIT
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