| 摘要 |
PURPOSE:To get in contact with an object with a prescribed force without the intervention of a processor by switching automatically a position or speed command control for a drive control of a hand into a force command control when a hand or a contact is in contact with the object at a scheduled force. CONSTITUTION:A switch circuit 13 switching outputs of the 1st control circuit 11 generating a position of speed differential output the 2nd control circuit 12 generating a force differential output is provided, and when a force applied to an end effector exceeds a command value, the switch circuit 13 is thrown to the position of the 2nd control circuit 12 so as to drive an arm A coupled with said end effector via a plate spring S by the force control. Since the force command control is constituted by analog circuits, the response speed is fast and the processing by a processor is not required.
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