@article{oai:tsuyama-nit.repo.nii.ac.jp:00000686,
 author = {山本, 吉範 and 小林, 正幸},
 journal = {津山工業高等専門学校紀要, Bulletin of Tsuyama National College of Technology},
 month = {Mar},
 note = {publisher, In this paper, the control method to gripping by means of a robot hand that automatically discriminates among rigid body, middle body and soft body is proposed. Further, an anti-fall method due to slipping of gripping body is made a trial by using a slipping sensor due to rotary encoder form to improve the reliability. For a control of gripping behavior in this paper, the grip force control is enforced by means of DC servo motor instead of the stepping motor by reason of which have a week gripping force and a slow gripping behavior. Still more, gripping control program is constructed by means of Visual Basic by reason of that express many data of gripping movement visually.},
 pages = {47--53},
 title = {DCサーボモータによる把持力制御},
 volume = {48},
 year = {2007}
}