GRIPPING FORCE-SETTING SYSTEM, GRIPPING FORCE-SETTING METHOD AND GRIPPING FORCE-ESTIMATING SYSTEM

摘要

The present invention improves gripping function by adapting to the softness of a gripped object. A gripping force-setting system comprises: a gripper (2) for gripping an object (100) to be gripped that has a given gripping characteristic; a camera (3) and an image-processing device (4) for detecting the deformation amount of a gripped object (100) when the gripper (2) grips the object with a test gripping force; and a controller (5) for setting the operational gripping force of the gripper (2) on the gripped object (100) on the basis of a specific deformation characteristic value calculated on the basis of the ratio of the deformation amount to the test gripping force. The controller (5) sets the operational gripping force within the region in which the deformation amount is linearly proportional to the test gripping force and the specific deformation characteristic value is roughly constant.