| 摘要 |
PURPOSE:To avoid an object from application of excessive reaction force due to dislocation of the object with respect to an arm by moving and/or correcting the position of a grasping mechanism in the direction of reducing the reaction force to a robot hand sensed when the object is gripped and handled. CONSTITUTION:A robot arm 1 is induced to the gripping position of an object 6, which is gripped by pawls 5a, 5b, and the robot arm 1 is revolved. A processing/calculating part takes in the component forces f1, f2 along the two axes for the working force sensed by displacement meters 3a, 3b and the rota tional angle theta of said robot arm 1 at a certain period, and reads the component forces f1i, f2i by the own weight of the nearest thetai stored in a memory, and commands are given to a motor drive control circuit so that f1-f1i thru f1-f2i are approached to zero, and drive motors 27a, 27b of straight motion mechanisms 2a, 2b corresponding to said axes are controlled, and then a grip ping mechanism 5 is moved to correct dislocation of the object with respect to the pawls 5a, 5b.
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