| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot hand control method and a controller capable of gripping a gripped object in an almost constant operation time regardless of the size of the gripped object. SOLUTION: In this method for controlling actuation of a robot hand 34 having at least two gripping claws 39 for gripping a gripped object and a driving mechanism 36 for driving the gripping claws 39 so as to mutually approach/ separate, when gripping the gripped object W by the gripping claws 39 by mutually approaching the gripping claws 39, the gripping claws 39 are moved by a high speed feed up to this side approach position for contacting with the gripped object W, and afterwards, the gripping claws 39 are moved by a low speed feed up to gripping the gripped object W by contacting with the gripped object W.
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