SLIP DETECTION DEVICE, SLIP DETECTION METHOD, AND SLIP DETECTION PROGRAM

摘要

PPROBLEM TO BE SOLVED: To detect a slip in a gripping part accurately using a simple constitution. PSOLUTION: A slip detection device 1 to detect a slip between two contacting surfaces of any object and the gripping part to grip it is equipped with a pressure detection means 3 to detect the pressures on the contacting surfaces, a center position calculating means 5a to calculate the pressure center position Oc on the contacting surfaces on the basis of the detected pressures, a change amount calculating means 5b to calculate the change amount of the pressure center position Oc obtained as above, a gripping force calculating means 5c to calculate the gripping force of the gripping part, and a slip determination means 5d to determine whether a slip is generated at the contacting surfaces on the basis of the change amount of the pressure center position Oc and the gripping force of the gripping part. PCOPYRIGHT: (C)2008,JPO&INPIT