| 摘要 |
PROBLEM TO BE SOLVED: To prevent work from dropping from fingers during the carrying of the work, even if a robot hand is not enlarged.SOLUTION: A robot device 500 is equipped with a robot hand 102 which has three fingers 122A-122C for gripping work W; and a robot arm 101 which supports the robot hand 102. The robot device 500 is also equipped with a control device 200 which controls the action of the robot hand 102 and the robot arm 101. The control device 200 controls a posture of te robot hand 102 so as to receive the inertia force of the work W with two of the three fingers 122A-122C, when three fingers 122A-122C grip the work W to carry the work W.SELECTED DRAWING: Figure 1 |
