Abstract
In this paper we present the grasping control system based on the position control. The slide mode control, which excels in robustness, is used for the position controller. Due to grasping is made by the position control, it is not necessary that the change of the control rule accompanying approach/grasp phase. Therefore the control system is stable. Grasping objects may slip from fingertips, when the mass of grasping objects and the attitude of the manipulators, which attached hands on, changes. To regard the coefficient as a threshold, the grasping force is made to increase by making the compliance of joints increase. The proposed control system is actually applied to a multifingerd hand, and the usefulness was verified.
