| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a gripping method using a holding device, which is a safe and reliable method. <P>SOLUTION: The holding device 3000 includes M pieces (M: an integer of 2 or more) of gripping part 3001 for pushing an object 3010 and N pieces (N: an integer of 2 or more) of force detecting part 100 for detecting force vectors. The force detecting part 100 is installed to the gripping part 3001. The gripping method includes a first step that the gripping part 3001 pushes the object 3010 by the use of push parameter, a second step that N pieces of force vector are detected, and a third step that an operational result determined based on the N pieces of force vector is compared with a threshold value. Thereby, based on the operational result, it can be determined whether or not the present push parameter is suitable for gripping of the object 3010. In other words, it can be determined whether gripping will be carried out reliably without causing fall of the object 3010. <P>COPYRIGHT: (C)2013,JPO&INPIT |
