| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a device and a method for controlling a manipulator in which a multi-finger hand can be suitably controlled for gripping or conveying an object by carrying out switching between position control and force control individually for each finger of the multi-finger hand in accordance with a moving state of an arm with the hand being attached to a distal end thereof. Ž<P>SOLUTION: The device for controlling the manipulator includes the multi-finger hand having a plurality of the fingers respectively provided with a force sensor 18 at an end thereof, and the arm with the multi-finger hand being attached to the distal end thereof. An arm controlling part 1 outputs at least one of acceleration, a velocity and a moving distance of an end part of the arm as the moving state of the arm, and a position and posture of the end part of the arm to a multi-finger hand controlling part 2. The multi-finger hand controlling part 2 includes finger controlling parts 51, 52, 53 for performing the position control or the force control in accordance with an output from the force sensor for each finger, and a control mode selection part 4 for directing switching of control between the force control and the position control to the finger controlling parts 51, 52, 53 in accordance with the moving state of the arm. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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