Flexible handling by gripper with consideration of characteristics of objects

Conventional robots in force control, which use the input-output position control system employing high reduction gears for drive control mechanisms, have dynamics of objects in the closed control loop. And so it is necessary to adjust control gains, depending on objects. For this purpose, a method of adaptive force control is presented with consideration of static and dynamic characteristics of objects. Some experiments are carried out for a gripper system to adjust the grasping and/or holding force to various objects whether they are soft and hard, and show the wider applicability and the flexible manipulation of the conventional gripper.