Robot hand, a robot, a robot system, the robot hand control methods

Abstract

The present invention relates to a robot hand for handling an article, comprising the robot hand of the robot, the robot system, and a control method for a robot hand. Provided acting on the robot hand can be reduced in the case of the robot hand to lift the article load torque wrist portion. The robot hand comprising: a base; a first arm mounted to the base, having a gripping portion for gripping an article, so that the gripping portion can be moved between a first proximal position and a second distal position, distal to the first position is a position away from the base portion in the first direction, the first position is a proximal position closer to the base than the first distal position; and a second arm, which is mounted to the base, having a counterweight, the counterweight can be made between the second distal position and a second proximal position, the second distal position is a position away from the base portion toward a side opposite to the second direction to the first direction, the second proximal position than a second distal position closer to the base position.