| 摘要 |
PURPOSE:To make smooth separation at the moment of the separation from a working object by executing a force control mode or a compliance control mode in moving a finger effector with contacting the working object, and implementing a position control mode in moving in a non-contacting condition. CONSTITUTION:When a finger effector 7 is moved to a point P1 on a work surface 6a, with a feed direction set in a position control mode and a pushing direction set in a force control mode for working, to reach the point P1, the finger effector 7 proceeds in a given direction toward the air to make a separating action from the work surface. In a movement condition B for separating, a movement in the force control mode is made regarding a z-axis direction, a separating direction. When the finger effector 7 reaches the point P1, an action command part 21 sends a command 26 to a separation action command part 25, and moreover switches each control parameter of a control device to movement in the force control mode via a control mode switching part 23. Thus the occurrence of excessive force can be prevented in separating, and a transfer from a following action to separation or movement in the air can be smoothly made. |
