| 摘要 |
<P>PROBLEM TO BE SOLVED: To readily determine whether an object is acceptable or not even when a hand part is exchanged. <P>SOLUTION: The hand part stores hand information on the weight of the hand part. Upon detecting a load to be received by an arm portion from the hand part gripping an object, a load component caused by the object out of that load is determined based on the hand information, and whether the object is acceptable or not is determined based on the obtained load of the object. Accordingly, the hand information is automatically updated upon exchanging the hand part, thus, whether the object is acceptable or not can be accurately determined by extracting the load caused by the hand part from the total load acting on the arm portion. <P>COPYRIGHT: (C)2013,JPO&INPIT |
