Hand control method, robot and driving device

摘要

Problem to be solved: to provide a technique capable of suppressing the fact that the hand has reached the object of work and that the burden is imposed on the hand or the work object.A method of controlling a hand having two fingers moving along an open / close shaft including an open and closed direction and a force detecting portion for detecting a force along an open / close shaft is provided.How to control this handFingerWhile opening and closing movement to move at least one of the open and closed directionsThe first step of starting the movement of the hand toward the first direction different from the direction along the opening axis andBased on force detected using force detectorA second step of detecting contact between a finger portion and a working object in the first directionDetection of contact between fingers and working objectsThe third step of stopping the movement of the hand.Diagram