Robot hand, gripping control method of robot hand, robot and robot control method

摘要

PPROBLEM TO BE SOLVED: To provide a robot hand and a method for controlling the grip of the robot hand, which is able to stably and quickly grip an object having an unknown shape without depending upon the shape of the object, and a robot and a method for controlling the robot. PSOLUTION: When the object B is gripped, articulations from a second articulation P2 to a fourth articulation P4 of a thumb 15 are controlled by a speed control method at a required speed during a non-contacting period so as to perform grip motion. After that, when finger links from a finger link 15a to a finger link 15c come into contact with the object B, the finger links from the second articulation P2 to the fourth articulation P4 of the thumb 15 located at their root sides are controlled by a force control method so that a contact force applied upon the finger links from the finger link 15a to the finger link 15c becomes a target contact force. PCOPYRIGHT: (C)2003,JPO