| 摘要 |
PROBLEM TO BE SOLVED: To reduce consumption energy of an electric motor while keeping high gripping force so as to attain excellent durability. SOLUTION: A CPU outputs, to a power supply unit, a first current instruction value I<SB>1</SB><SP>*</SP>for generating predetermined gripping force F<SB>a</SB>necessary for gripping an object to be gripped on a pair of fingers. The power supply unit supplies current of a first current value I<SB>1</SB>corresponding to the first current instruction value I<SB>1</SB><SP>*</SP>to the electric motor. In addition, the CPU reduces a current instruction to a second current instruction value I<SB>2</SB><SP>*</SP>with which the predetermined gripping force F<SB>a</SB>is kept based on the hysteresis characteristics of a gear reducer. The power supply unit supplies current of a second current value I<SB>2</SB>corresponding to the second current instruction value I<SB>2</SB><SP>*</SP>to the electric motor. COPYRIGHT: (C)2011,JPO&INPIT |
