Robot gripper and method for operating a robot gripper

摘要

The invention relates to a robot gripper (100) and a method for operating such a robot gripper (100), the robot gripper (100) comprising: at least one drive unit AE (101) for driving a drive train AS (102) with a number N of active elements WEn (103), each active element WEn (103) having a work area ABn which is arranged fixedly relative to the robot gripper and in which the respective active element WEn is movable and which it can reach; a control unit (104) for controlling the at least one drive unit AE (101); anda sensor system (105) connected to the control unit (104) for determining external forces / torques Fext, WEn (t) applied to the individual active elements WEn (103), with n = 1, 2, ..., N and N ≥ 1; the control unit (104) being designed and set up in such a way that collision monitoring can be carried out for the active elements WEn (103), and that the drive unit AE (101) is controlled according to a predetermined operation when a collision event is detected for an active element WEn (103) , with the following steps: providing (201) for the active elements WEn in each case a defined area Bn within the working area ABn, and performing (202) the collision monitoring for the active elements WEn (103) only when the respective active elements WEn (103) are outside the assigned Area B are located and the collision monitoring for the active elements WEn is deactivated if the respective active elements WEn are at least partially within the assigned area Bn.