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Control mannered null displacement of the robot and the robot hand feature which have robot hand feature and robot
Control mannered null displacement of the robot and the robot hand feature which have robot hand feature and robot
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机译：具有机器人手特征和机器人的机器人和机器人手特征的控制地零位移
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摘要
PROBLEM TO BE SOLVED: To provide a robot hand mechanism that realizes a movement control with an optimal gripping force and at an optimal speed according to the hardness of the object which has unspecified hardness.;SOLUTION: The robot hand mechanism 1 has a pair of finger 2a and 2b. A first joint 21 of each finger 2a and 2b has a second joint 22 displaceably connected thereto via a servomotor 7. The servomotor 7 includes a potentiometer 8, and the end of the second joint 22 includes a force sensor 9. The potentiometer 8 outputs a displacement amount of the second joint 22 to a control part 6. The force sensor 9 outputs a pressing force Fx applied to an object O by the second joint 22 and a frictional force Fy occurring between the second joint 22 and the object O, to a control part 6. The control part 6 determines the hardness of the object O based on the inputs from both the potentiometer 8 and the force sensor 9, and switches over a gripping force for gripping the object O and a speed for moving the object O, based on the hardness of the object.;COPYRIGHT: (C)2010,JPO&INPIT
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