ROBOT HAND AND CONTROL METHOD THEREFOR

To provide a robot hand having high versatility and to provide a control method therefor.SOLUTION: A hand part of a robot hand includes a finger part supported by a base part. The finger part has a first joint 231 and a second joint 232 provided on a fingertip side from the first joint 231. The control unit sets on each of the first joint and the second joint torque in a direction in which a force is applied to an object 100 in order to displace the object 100 to a predetermined position. When an external force acting on the first joint is smaller than a driving force set on the first joint, the first joint rotates in direction in which a force is applied to the object, such that the trajectory of the object accompanying the displacement is outside a virtual circle 50. When the external force acting on the first joint is larger than the driving force set on the first joint, the first joint rotates in a direction opposite to the direction in which the force is applied to the object, such that the trajectory of the object accompanying the displacement is inside the virtual circle.SELECTED DRAWING: Figure 9 【課題】汎用性の高いロボットハンドおよびその制御方法を提供すること。【解決手段】ロボットハンドのハンド部は、基部に支持された指部を備える、指部は、第１関節２３１と、第１関節２３１よりも指先側に設けられた第２関節２３２を有する。制御部は、物体１００を所定位置に変位させるために物体１００に対して力を加える向きのトルクを第１関節および第２関節それぞれに設定する。第１関節に設定した駆動力よりも第１関節に作用する外力が小さい場合、変位にともなう物体の軌道が仮想円５０の外側になるように、第１関節は物体に力を加える向きに回転する。第１関節に設定した駆動力よりも第１関節に作用する外力が大きい場合、変位にともなう物体の軌道が仮想円の内側になるように、第１関節は物体に力を加える向きとは逆向きに回転する。【選択図】図９