Robot hand, robot and robot system, and method for controlling robot hand

Abstract

The invention relates to arobot hand, a robot and a robot system, and a method for controlling the robot hand. Provided is a robot hand capable of reducing the load moment applied on the wrist of the robot hand in lifting an article. The robot hand includes a base; a first hand arm mounted on the base, including a holding part configured to hold the article, and configured such that the holding part is movable between a first distal position away from the base in a first direction, and a first proximal position close to the base more than the first distal position; and a second hand arm mounted on the base, including a counter balancer weight, and configured such that the counter balancer weight is movable between a second distal position away from the base in a second direction opposite to the first direction, and a second proximal position close to the base more than the second distal position.