Patent ID: 7787993
Filing Date: 2010-08-31
Classification: B25J

Abstract:
1. A robot hand, comprising: a base portion; a plurality of finger mechanisms extended from the base portion and able to be bent and stretched; a first measuring section for measuring a contact point with each finger mechanism on an object; a second measuring section for measuring a force vector applied from each finger mechanism to the object; and a control section for controlling an operation of each finger mechanism on the basis of a measuring result of each of the first measuring section and the second measuring section; wherein said control section controls the operation of each finger mechanism such that the contact point with each finger mechanism on the object measured by the first measuring section and the force vector applied to the object from each finger mechanism measured by the second measuring section satisfy a stable gripping condition in a process for changing the force vector applied to the object from at least one of certain finger mechanisms among the plurality of finger mechanisms; and said stable gripping condition is a condition in which a sum of each of forces and moments applied from said plurality of finger mechanisms to said object becomes zero, and a slip index becomes minimum as a decreasing function of the magnitude of an inner product of a vector perpendicular to an axis of a frictional cone of said object with respect to each finger mechanism and an application force vector from each finger mechanism to the object becomes minimum.