Robot hand for transporting article, robot and robot system provided with robot hand, and method for controlling robot hand

A method of controlling a robot hand,

• the robot hand including:
• a base;
• a first hand arm mounted on the base to be reciprocable on a first track parallel to a first axis, the first hand arm including a holding part configured to hold an article, and the first hand arm configured to move the holding part between (i) a first distal position away from the base in a first direction and (ii) a first proximal position closer to the base than the first distal position;
• and
• a second hand arm mounted on the base to be reciprocable on a second track parallel to the first axis, the second hand arm including a counter balancer weight, and the second hand arm configured to move the counter balancer weight between (a) a second distal position away from the base in a second direction opposite to the first direction and (b) a second proximal position closer to the base than the second distal position,
• wherein the first track and the second track are separate away from each other in a direction intersecting the first axis,
• the method comprising:
• moving the counter balancer weight from the second proximal position to the second distal position by the second hand arm;
• moving the holding part from the first proximal position to the first distal position by the first hand arm, wherein the holding part is moved from the first proximal position to the first distal position by the first hand arm after the counter balancer weight is moved from the second proximal position to the second distal position by the second hand arm;
• and
• holding the article by driving the holding part.