ROBOT HAND SYSTEM WITH GRIPPING SECTION

摘要

The hardware portion of a robot hand system (10) is configured by including a lifting actuator (12), gripping actuators (14), and probes (20) each provided to the gripping end at the tip of each multi-joint section (17).  A section (50) for detecting contact and the degree of slip and connected to the probes (20) has a function of discriminatorily detecting the following states: a non-contact state in which an object is not in contact with the probes (20) at all, a contact and gripping state in which the probes (20) and the object are not moving relatively, and a slip state in which the probes (20) and the object are moving relative to each other and are in what is called a slipping condition.  With the use of this function, a control section (70) drives the gripping actuator (14) so that the object can be held with a minimum gripping force.