Patent ID: 7289884
Filing Date: 2007-10-30
Classification: B25J,G05B

Abstract:
1. A hand control system controlling a grasping operation of an object by a hand extended from a base and having a plurality of finger mechanisms capable of bending and stretching, the system comprising: a first processor recognizing part or all of size, shape, position, and posture of the object, and recognizing an object reference point and an i-th (i=1, 2, . . . ) object reference vector having the object reference point as a starting point in accordance with the recognized information; a second processor recognizing position and posture of the base and bending posture of a specified finger mechanism from among the plurality of finger mechanisms, and recognizing a hand reference point and an i-th hand reference vector having the hand reference point as a starting point in accordance with the recognized information; a third processor controlling the position and posture of the base such that the object reference point and the i-th object reference vector recognized by the first processor and the hand reference point and the i-th hand reference vector recognized by the second processor come close to each other, respectively; and a fourth processor gradually changing the bending posture of the specified finger mechanism during the controlling process of the position and posture of the base by the third processor.