ROBOT, GRIPPING FORCE CONTROL DEVICE, GRIPPING FORCE CONTROL METHOD, AND GRIPPING FORCE CONTROL PROGRAM

摘要

To provide a robot, a gripping force control device, a gripping force control method, and a gripping force control program capable of accurately controlling gripping force even in a region where the gripping force of a gripper is small.SOLUTION: A robot 10 comprises: a gripper GR provided with fingers F1, F2 for gripping a workpiece W, a motor M for driving the fingers F1, F2, a driving current detection unit that detects a driving current of the motor M, and tactile sensors S1, S2 provided to the fingers F1, F2; a driving force calculation unit that calculates driving force applied to the workpiece W by the fingers F1, F2 on the basis of a driving current value of the motor M; a pressing force calculation unit that calculates pressing force received by the tactile sensors S1, S2 from the workpiece W on the basis of a detection value of the tactile sensors S1, S2; and a control unit that determines which of the driving and pressing forces should be used on the basis of a gripping force setting value which is a setting value of the gripping force applied to the workpiece by the fingers F1, F2, and controls the gripping force by using a value of the driving force or the pressing force determined to be used.SELECTED DRAWING: Figure 1