| 摘要 |
<P>PROBLEM TO BE SOLVED: To confirm a grip of an object to be gripped, and to confirm the release of the grip by a simpler constitution. <P>SOLUTION: A gripping device includes an arranging detection means which detects whether first and second gripping members are located in a reference position being a position at a closed side rather than a gripping position in which the gripping members grip the object to be gripped. The device controls the first and second gripping members so as to move to the reference position after the object to be gripped is gripped, determines that the grip of the object to be gripped is normal when it is not detected that the first and second gripping members are located in the reference position, controls the first and second gripping members so as to move to the reference position after the grip of the object to be gripped is released, and determines that the release of the grip is normal, when it is detected that the first and second gripping members are located in the reference position. <P>COPYRIGHT: (C)2012,JPO&INPIT |
