| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a robot hand control device capable of grasping a grasping target article even if it is determined that a robot hand is unable to grasp the grasping target article.SOLUTION: A robot hand control device 13 includes: grasping target article identifying means 15 for identifying a shape and a position of a grasping target article T; an obstacle identifying means 16 identifying an obstacle; locus deriving means 17 for deriving a locus of a robot hand 3; determination means 18 determining whether grasping means of the robot hand 3 can be inserted between the grasping target article T and the obstacle; and control means 19 for controlling the robot hand 3. The locus driving means 17 derives the locus for the robot hand 3 to roll the grasping target article T in a direction of separating the grasping target article T from the obstacle if the determination means 18 determines that the grasping means of the robot hand 3 is unable to be inserted between the grasping target article T and the obstacle.</p> |
