| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device and method of a driving object which reduces damage on each member caused by a crash. SOLUTION: When the crash of a hand 17 is detected, a command generation means 25 generates a back command for inverting a direction of movement of the hand 17 in a moving direction by a motor M, and a position maintaining command for maintaining the position of the hand 17 vertical to the moving direction by the motor M at a position after the crash, displaced by the crash. When the crash is detected, the hand 17 backs off while maintaining the position vertical to the moving direction in the position after the crash, and separates from an obstacle. Thus, the obstacle and the hand 17 are separated while preventing the hand 17 from pushing the obstacle in a vertical direction to the moving direction. COPYRIGHT: (C)2008,JPO&INPIT
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