ROBOT HAND, ROBOT HAND CONTROL METHOD, AND PROGRAM

Provided are a robot hand, a robot hand control method, and a program whereby it is possible to perform mounting work at high speed while reducing impact between an object (20) to be gripped and an object (22) to which the object (20) to be gripped is to be mounted. The robot hand (100) comprises: a hand (12) that has a misalignment prevention mechanism at the point of contact with the gripped object (20) and a mechanism that can move with three degrees of freedom in different directions by an external force; a displacement sensor (14) that, when an external force is applied to the hand (12), detects the amount of displacement of the hand (12) from a mechanically balanced state before the application of the external force; and a controller (16) that includes an estimation unit that estimates, on the basis of the displacement amount detected by the displacement sensor (14), the position/orientation displacement amount of the gripped object (20) during the mounting of the gripped object (20) to the object (22)