METHOD FOR CONTROLLING ROBOT HAND

摘要

PURPOSE: A method to control robot hands is provided to warn users of collision by previously predicting a situation in which fingers of the robot hand collide and to prevent the collision of the robot hand by controlling the robot hand accordingly. CONSTITUTION: A method to control robot hands comprises the steps of: recognizing a prior posture of fingers using a master device; changing a shape of the robot hand according to the recognized prior posture; recognizing a gripping posture of the finger using the master device; and performing a gripping movement of the robot hand according to the gripping posture corresponded to the recognized prior posture. [Reference numerals] (11) Input unit; (12) Storing unit; (13) Control unit; (14) Driving unit; (15,16) First and second joints; (17) Pivot joint