Patent ID: 8463434

Claim:
A control system of a robot hand which is provided with a palm portion and a plurality of finger mechanisms extended from the palm portion and which is capable of grasping an object by moving the plurality of finger mechanisms, the control system comprising: a first arithmetic processor configured to measure a position of a load center in the palm portion, a load applied to the palm portion, and as a finger position, a position at which each of the plurality of finger mechanisms is in contact with the object and which is projected onto the palm portion in a direction of a finger pressure; and a second arithmetic processor configured to control a finger pressure, which is a load applied to the object from each of the plurality of finger mechanisms, such that a measurement position of the load center in the palm portion is included in a target palm area and a measurement value of the load applied to the palm portion is included in a target load range in a state wherein the object is in contact with the plurality of finger mechanisms and the palm portion, respectively, by being grasped by the hand, wherein in a case where the first arithmetic processor measures three or more finger positions, the second arithmetic processor is configured to set the target palm area such that the target palm area falls within a triangle having a finger position or an intermediate position of a pair of finger positions as an apex thereof, to adjust a relative magnitude of the finger pressure of a single finger mechanism or the resultant force of a pair of finger mechanisms corresponding to one end of a long side of the triangle and the finger pressure of a single finger mechanism or the resultant force of a pair of finger mechanisms corresponding to the other end of the long side of the triangle thereby to displace the load center in the palm portion in a direction parallel to the long side, and to adjust the relative magnitude of the finger pressure of a single finger mechanism or the resultant force of a pair of finger mechanisms corresponding to the apex of the triangle opposing the long side and the resultant force of the finger pressures of the plurality of finger mechanisms corresponding to both ends of the long side, thereby changing the load center in the palm portion in a direction perpendicular to the long side.