| 摘要 |
PROBLEM TO BE SOLVED: To provide a hand controlling system controlling a hand to precisely grip an article of any shape while simplifying a structure of a finger mechanism. SOLUTION: By the hand controlling system 2, a position and a posture of a palm portion 10 is controlled to make an article reference point P<SB>w</SB>and a hand reference point P<SB>h</SB>approach each other and make an i-th article reference vectorα<SB>Wi</SB>and an i-th hand reference vectorα<SB>hi</SB>approach each other. In a step of controlling the position and the posture of the palm portion, the action of a specified finger mechanism is controlled so as to gradually change a bending posture of the specified finger mechanism (for example, the degree of bending is gradually increased). Therefore, an article of any shape is precisely grasped. COPYRIGHT: (C)2007,JPO&INPIT
|
