| 摘要 |
PROBLEM TO BE SOLVED: To accurately detect slip in a holding part. SOLUTION: This slip detecting device 1 detects slip of a contact surface of a holding part for holding an object and the object based on pressure of the contact surface. The device 1 is provided with a pressure distribution calculation means 5a for calculating the pressure distribution of the contact surface, a pressure center calculation means 5b for calculating a center Oc of the pressure distribution based on the pressure distribution calculated by the pressure distribution means 5a, and a slip decision means 5c for deciding whether the slip is generated in the contact surface based on a slip decision function including vibration power at the center Oc of the pressure distribution calculated by the pressure center calculation means 5b. COPYRIGHT: (C)2007,JPO&INPIT
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