| 摘要 |
<p>A robot hand has six optical approach sensors (22-27) of which four (24-27) are attached to the outside of the fingers (82, 84) and the other two (22, 23) are inside the fingers. The optical approach sensor is provided with phototransistors (142, 144) and LEDs (132, 134) (light-emitting diodes). These sensors are used for detecting the existence of objects to be grasped or obstacles, for measuring the distance between the hand tip and the obstacles and for controlling the robot hand in order to avoid the obstacles. Signals indicating the distance and the existence of obstacles are obtained by two selecting or switiching means for connecting phototransistors and LEDs. </p> |
