Control device, control method, computer program, and recording medium

A control method for a control device for controlling grip of an object, the control method comprising the steps of:

• detecting a slip of the object and outputting a slip detection value;
• by a processor, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object;
• calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object;
• and
• setting the magnitude of the command value on the basis of the change value and the suppression value.

A non-transitory computer readable medium storing a computer program for controlling grip of an object, the computer program causing a computer to execute processing of:

• detecting a slip of the object and outputting a slip detection value;
• calculating, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object;
• calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object;
• and
• setting the magnitude of the command value on the basis of the change value and the suppression value.