| 摘要 |
PROBLEM TO BE SOLVED: To provide a device for controlling a robot hand which can readily, rapidly and stably detect a gripping state of a workpiece using a sensor value that is outputted during repetitive gripping operations.SOLUTION: A grip apparatus 100 includes a robot hand 1 including a plurality of fingers 2, 3 and pressure sensitive conductive rubber 6 provided at the finger 2 and configured to output a detection signal equivalent to an acting force. The pressure sensitive conductive rubber 6 is covered with a cover member. The grip apparatus 100 also includes a control unit 4 configured to make the plural fingers 2, 3 perform an opening or closing operation and compare a detection value based on the detection signal from the pressure sensitive conductive rubber 6 with a threshold to determine whether the robot hand 1 grips the workpiece or releases the workpiece. During a period from a time when the closing operation is started until a time when the fingers 2, 3 come into contact with the workpiece, the control unit 4 samples the detection signal of the pressure sensitive conductive rubber 6 and sets the threshold as a value higher than a detection value at a time of this sampling. |
