| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To accurately detect whether or not a thin film object is held in a robot hand device. <P>SOLUTION: Respective forces in the normal direction and the shearing direction of the fingertip of the robot hand device are detected, and a friction coefficient is calculated using the respective detected forces. A threshold is preliminarily obtained from the maximum friction coefficient of fingertips, the threshold is compared with the calculated maximum friction coefficient, and whether or not the maximum friction coefficient is within the range of the threshold is detected. Thus, whether or not the thin film object is held at the fingertip is detected. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
