{"id":347809,"date":"2026-09-01T18:58:02","date_gmt":"2026-09-01T09:58:02","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=347809"},"modified":"2026-09-28T17:37:58","modified_gmt":"2026-09-28T08:37:58","slug":"tesollo-grasp-mode%e3%81%ae%e4%bb%95%e7%b5%84%e3%81%bf%e3%81%ab%e3%81%a4%e3%81%84%e3%81%a6","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/tesollo\/tesollo-grasp-mode%e3%81%ae%e4%bb%95%e7%b5%84%e3%81%bf%e3%81%ab%e3%81%a4%e3%81%84%e3%81%a6.html","title":{"rendered":"[Tesollo] Grasp Mode\u306e\u4ed5\u7d44\u307f\u306b\u3064\u3044\u3066"},"content":{"rendered":"<h3>\u306f\u3058\u3081\u306b<\/h3>\n<p>Delto Gripper\u306eGrasp Mode\u306f\u3001\u901a\u5e38\u306e\u4f4d\u7f6e\u5236\u5fa1\u3068\u306f\u7570\u306a\u308a\u3001\u529b\u3092\u57fa\u6e96\u3068\u3057\u305f\u628a\u6301\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\u3002<br \/>\nGrasp Mode\u3067\u306f\u3001\u3042\u3089\u304b\u3058\u3081\u6307\u5b9a\u3057\u305f\u95a2\u7bc0\u89d2\u5ea6\u3067\u6307\u3092\u505c\u6b62\u3055\u305b\u308b\u306e\u3067\u306f\u306a\u304f\u3001\u628a\u6301\u306b\u4f7f\u7528\u3059\u308b\u6307\u540c\u58eb\u306e\u4f4d\u7f6e\u95a2\u4fc2\u3084\u529b\u3092\u3082\u3068\u306b\u3001\u5bfe\u8c61\u7269\u3092\u628a\u6301\u3059\u308b\u3088\u3046\u306b\u6307\u3092\u5236\u5fa1\u3057\u307e\u3059\u3002<\/p>\n<p>\u672c\u8a18\u4e8b\u3067\u306f\u3001DG-4F-M\u3092\u4f8b\u3068\u3057\u3066\u7d39\u4ecb\u3044\u305f\u3057\u307e\u3059\u3002<\/p>\n<h4>1. Grasp Mode\u3068\u306f<\/h4>\n<p>Grasp Mode\u306f\u529b\u5236\u5fa1\u30d9\u30fc\u30b9\u3067\u8ffd\u5f93\u3059\u308b\u628a\u6301\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\u3002<br \/>\n\u4f8b\u3048\u3070DG-4F-M\u3067\u306f\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u8907\u6570\u306eGrasp Mode\u304c\u7528\u610f\u3055\u308c\u3066\u3044\u308b\u305f\u3081\u3001\u3069\u306e\u6307\u3092\u7d44\u307f\u5408\u308f\u305b\u3066\u3069\u306e\u304f\u3089\u3044\u306e\u529b\u3067\u3069\u306e\u3088\u3046\u306b\u628a\u6301\u3059\u308b\u304b\u3092\u9078\u629e\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<table>\n<thead>\n<tr>\n<th>Grasping Algorithm<\/th>\n<th>Grasp Mode<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>4 fingers toward center<\/td>\n<td>4\u672c\u306e\u6307\u306e\u4e2d\u5fc3\u70b9\u3092Force\u30d9\u30fc\u30b9\u3067\u8ffd\u5f93\u3059\u308b\u628a\u6301\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0<\/td>\n<\/tr>\n<tr>\n<td>4 fingers parallel<\/td>\n<td>\u63071\u3068\u63074\u3001\u63072\u3068\u63073\u304c\u5e73\u884c\u306b\u99c6\u52d5\u3059\u308b\u3088\u3046Force\u30d9\u30fc\u30b9\u3067\u8ffd\u5f93\u3059\u308b\u628a\u6301\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0<\/td>\n<\/tr>\n<tr>\n<td>4 fingers envelop<\/td>\n<td>4\u672c\u306e\u6307\u304c\u5bfe\u8c61\u7269\u3092Force\u30d9\u30fc\u30b9\u3067\u5305\u307f\u8fbc\u3080\u3088\u3046\u306b\u99c6\u52d5\u3059\u308b\u628a\u6301\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0<\/td>\n<\/tr>\n<tr>\n<td>4 fingers right parallel<\/td>\n<td>\u63071\u3068\u5bfe\u5411\u3059\u308b3\u672c\u306e\u6307\u304c\u5e73\u884c\u306b\u99c6\u52d5\u3059\u308b\u3088\u3046Force\u30d9\u30fc\u30b9\u3067\u8ffd\u5f93\u3059\u308b\u628a\u6301\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0<\/td>\n<\/tr>\n<tr>\n<td>4 fingers left parallel<\/td>\n<td>\u63074\u3068\u5bfe\u5411\u3059\u308b3\u672c\u306e\u6307\u304c\u5e73\u884c\u306b\u99c6\u52d5\u3059\u308b\u3088\u3046Force\u30d9\u30fc\u30b9\u3067\u8ffd\u5f93\u3059\u308b\u628a\u6301\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0<\/td>\n<\/tr>\n<tr>\n<td>2 fingers toward center (1&amp;2)<\/td>\n<td>\u63071\u3068\u63072\u306e\u4e2d\u5fc3\u70b9\u3092Force\u30d9\u30fc\u30b9\u3067\u8ffd\u5f93\u3059\u308b\u628a\u6301\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0<\/td>\n<\/tr>\n<tr>\n<td>2 fingers toward center (1&amp;4)<\/td>\n<td>\u63071\u3068\u63074\u306e\u4e2d\u5fc3\u70b9\u3092Force\u30d9\u30fc\u30b9\u3067\u8ffd\u5f93\u3059\u308b\u628a\u6301\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0<\/td>\n<\/tr>\n<tr>\n<td>2 fingers toward center (3&amp;4)<\/td>\n<td>\u63073\u3068\u63074\u306e\u4e2d\u5fc3\u70b9\u3092Force\u30d9\u30fc\u30b9\u3067\u8ffd\u5f93\u3059\u308b\u628a\u6301\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/tesollo_grasp-1024x775.png\" alt=\"\" width=\"632\" height=\"478\" class=\"alignnone wp-image-347833\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/tesollo_grasp-1024x775.png 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/tesollo_grasp-300x227.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/tesollo_grasp-768x581.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/tesollo_grasp-264x200.png 264w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/tesollo_grasp-426x322.png 426w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/tesollo_grasp.png 1302w\" sizes=\"auto, (max-width: 632px) 100vw, 632px\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>\u307e\u305fGrasp Mode\u306b\u306f\u3001\u300c\u628a\u6301\u3057\u305f\u5f8c\u3082\u72b6\u614b\u306b\u5fdc\u3058\u3066\u6307\u306e\u52d5\u4f5c\u304c\u5909\u5316\u3059\u308b\u3053\u3068\u300d\u3068\u3044\u3046\u7279\u5fb4\u304c\u3042\u308a\u307e\u3059\u3002<br \/>\n\u628a\u6301\u4e2d\u306b\u5916\u529b\u304c\u52a0\u308f\u3063\u3066\u30ef\u30fc\u30af\u3084\u6307\u306e\u4f4d\u7f6e\u95a2\u4fc2\u304c\u308f\u305a\u304b\u306b\u5909\u5316\u3057\u305f\u5834\u5408\u3001\u901a\u5e38\u306e\u4f4d\u7f6e\u5236\u5fa1\u306e\u3088\u3046\u306b\u300c\u6700\u521d\u306b\u6307\u5b9a\u3057\u305f\u95a2\u7bc0\u89d2\u5ea6\u3092\u305d\u306e\u307e\u307e\u7dad\u6301\u300d\u3059\u308b\u306e\u3067\u306f\u306a\u304f\u3001\u300c\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u3092\u7528\u3044\u3066\u3001\u628a\u6301\u4e2d\u5fc3\u3092\u7d99\u7d9a\u7684\u306b\u8abf\u6574\u300d\u3057\u307e\u3059\u3002<br \/>\n\u305d\u306e\u305f\u3081\u3001\u5916\u529b\u306b\u3088\u3063\u3066\u6307\u3084\u30ef\u30fc\u30af\u304c\u308f\u305a\u304b\u306b\u305a\u308c\u305f\u5834\u5408\u3067\u3082\u3001\u30aa\u30d5\u30bb\u30c3\u30c8\u3092\u88dc\u6b63\u3057\u306a\u304c\u3089\u59ff\u52e2\u3092\u9069\u5fdc\u3055\u305b\u3001\u628a\u6301\u3092\u7d99\u7d9a\u3059\u308b\u3068\u3044\u3046\u306e\u304cGrasp Mode\u306e\u57fa\u672c\u7684\u306a\u8003\u3048\u65b9\u3067\u3059\u3002<\/p>\n<div style=\"width: 852px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-347809-1\" width=\"852\" height=\"480\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/f46b2a341efdf9c58f4e07899912ac4f.mp4?_=1\" \/><a href=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/f46b2a341efdf9c58f4e07899912ac4f.mp4\">https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/f46b2a341efdf9c58f4e07899912ac4f.mp4<\/a><\/video><\/div>\n<p>&nbsp;<\/p>\n<h4>2. Position Control\u3068\u306e\u9055\u3044<\/h4>\n<p>\u901a\u5e38\u306ePosition Control\u3067\u306f\u3001\u5404Joint\u306b\u76ee\u6a19\u4f4d\u7f6e\u3092\u8a2d\u5b9a\u3057\u3001\u305d\u306e\u4f4d\u7f6e\u3078\u6307\u3092\u52d5\u304b\u3057\u307e\u3059\u3002<br \/>\n\u4e00\u65b9\u3001Grasp Mode\u3067\u306f\u3001\u628a\u6301\u306b\u5fc5\u8981\u306a\u529b\u95a2\u4fc2\u3092\u5229\u7528\u3057\u3066\u6307\u3092\u8ffd\u5f93\u3055\u305b\u307e\u3059\u3002<br \/>\n\u305d\u306e\u305f\u3081\u3001\u4e21\u8005\u306b\u306f\u6b21\u306e\u3088\u3046\u306a\u9055\u3044\u304c\u3042\u308a\u307e\u3059\u3002<br \/>\n\u3057\u305f\u304c\u3063\u3066\u3001\u300c\u6bce\u56de\u6c7a\u307e\u3063\u305f\u89d2\u5ea6\u306b\u6307\u3092\u52d5\u304b\u3057\u305f\u3044\u300d\u5834\u5408\u306fPosition Control\u3001\u300c\u5bfe\u8c61\u7269\u306b\u5408\u308f\u305b\u3066\u6307\u3092\u9069\u5fdc\u3055\u305b\u306a\u304c\u3089\u628a\u6301\u3057\u305f\u3044\u300d\u5834\u5408\u306fGrasp Mode\u304c\u57fa\u672c\u7684\u306a\u4f7f\u3044\u5206\u3051\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<table>\n<thead>\n<tr>\n<th><\/th>\n<th>Position Control<\/th>\n<th>Grasp Mode<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>\u57fa\u6e96<\/td>\n<td>\u76ee\u6a19\u4f4d\u7f6e<\/td>\n<td>\u529b\u30fb\u628a\u6301\u72b6\u614b<\/td>\n<\/tr>\n<tr>\n<td>\u4e3b\u306a\u76ee\u7684<\/td>\n<td>\u6307\u3092\u6307\u5b9a\u4f4d\u7f6e\u3078\u52d5\u304b\u3059<\/td>\n<td>\u5bfe\u8c61\u7269\u3092\u9069\u5fdc\u7684\u306b\u628a\u6301\u3059\u308b<\/td>\n<\/tr>\n<tr>\n<td>\u5916\u529b\u3078\u306e\u5bfe\u5fdc<\/td>\n<td>\u76ee\u6a19\u4f4d\u7f6e\u3092\u7dad\u6301\u3057\u3088\u3046\u3068\u3059\u308b<\/td>\n<td>\u529b\u306b\u5fdc\u3058\u3066\u59ff\u52e2\u3092\u9069\u5fdc\u3055\u305b\u308b<\/td>\n<\/tr>\n<tr>\n<td>\u5f62\u72b6\u3070\u3089\u3064\u304d\u3078\u306e\u5bfe\u5fdc<\/td>\n<td>\u5de5\u592b\u304c\u5fc5\u8981<\/td>\n<td>\u9069\u5fdc\u3057\u3084\u3059\u3044<\/td>\n<\/tr>\n<tr>\n<td>\u4e3b\u306a\u7528\u9014<\/td>\n<td>\u30dd\u30fc\u30ba\u4f5c\u6210\u30fb\u4f4d\u7f6e\u6c7a\u3081\u306a\u3069<\/td>\n<td>\u628a\u6301\u30fb\u30cf\u30f3\u30c9\u30ea\u30f3\u30b0\u306a\u3069<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>&nbsp;<\/p>\n<h4>3. Grasp Mode\u3068Position Control\u306e\u7d44\u307f\u5408\u308f\u305b<\/h4>\n<p>Grasp Mode\u3092\u4f7f\u7528\u3057\u3066\u3044\u308b\u5834\u5408\u3067\u3082\u3001\u3059\u3079\u3066\u306eJoint\u3092Grasp Mode\u3067\u52d5\u4f5c\u3055\u305b\u308b\u5fc5\u8981\u306f\u3042\u308a\u307e\u305b\u3093\u3002<br \/>\nDelto Gripper\u3067\u306f\u3001\u628a\u6301\u4e2d\u306b\u7279\u5b9a\u306e\u30e2\u30fc\u30bf\u30fc\u3092\u300cPosition Control Mode\u300d\u3068\u3057\u3066\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<br \/>\n\u3053\u308c\u306b\u3088\u308a\u3001\u4e00\u90e8\u306eJoint\u306f\u4f4d\u7f6e\u3092\u7dad\u6301\u3057\u3001\u305d\u306e\u4ed6\u306eJoint\u306fGrasp Mode\u306b\u3088\u3063\u3066\u5bfe\u8c61\u7269\u306b\u5408\u308f\u305b\u3066\u52d5\u4f5c\u3059\u308b\u3068\u3044\u3046\u7d44\u307f\u5408\u308f\u305b\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/tesollo_posi-1024x777.png\" alt=\"\" width=\"631\" height=\"479\" class=\"alignnone wp-image-347835\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/tesollo_posi-1024x777.png 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/tesollo_posi-300x228.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/tesollo_posi-768x583.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/tesollo_posi-264x200.png 264w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/tesollo_posi-426x323.png 426w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2026\/09\/tesollo_posi.png 1298w\" sizes=\"auto, (max-width: 631px) 100vw, 631px\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>\u4ed6\u306b\u6c17\u306b\u306a\u308b\u70b9\u3084\u3054\u4e0d\u660e\u70b9\u3054\u3056\u3044\u307e\u3057\u305f\u3089\u3001dobot@techshare.co.jp \u307e\u3067\u3054\u9023\u7d61\u304f\u3060\u3055\u3044\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u306f\u3058\u3081\u306b Delto Gripper\u306eGrasp Mode\u306f\u3001\u901a\u5e38\u306e\u4f4d\u7f6e\u5236\u5fa1\u3068\u306f\u7570\u306a\u308a\u3001\u529b\u3092\u57fa\u6e96\u3068\u3057\u305f\u628a\u6301\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\u3002 Grasp Mode\u3067\u306f\u3001\u3042\u3089\u304b\u3058\u3081\u6307\u5b9a\u3057\u305f\u95a2\u7bc0\u89d2\u5ea6\u3067\u6307\u3092\u505c\u6b62\u3055\u305b\u308b\u306e\u3067\u306f\u306a\u304f\u3001\u628a\u6301\u306b\u4f7f\u7528\u3059\u308b &hellip;<\/p>\n","protected":false},"author":35,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_bbp_topic_count":0,"_bbp_reply_count":0,"_bbp_total_topic_count":0,"_bbp_total_reply_count":0,"_bbp_voice_count":0,"_bbp_anonymous_reply_count":0,"_bbp_topic_count_hidden":0,"_bbp_reply_count_hidden":0,"_bbp_forum_subforum_count":0,"footnotes":""},"categories":[91],"tags":[],"class_list":["post-347809","post","type-post","status-publish","format-standard","hentry","category-tesollo"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/347809","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/users\/35"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=347809"}],"version-history":[{"count":10,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/347809\/revisions"}],"predecessor-version":[{"id":349989,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/347809\/revisions\/349989"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=347809"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=347809"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=347809"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}