Robotic gripper and method for operating a robotic gripper

摘要

The invention relates to a robot gripper (100) and a method for operating such a robot gripper (100). The proposed robot gripper (100) has: an electric motor AE (101) which drives an output train AS (103) via a gear (102), the output train AS (103) having at least two active elements WE1 and WE2; the following sensors (104): a position sensor for detecting a position q of the electric motor AE (101), a torque sensor connected between the transmission (102) and the output train AS (103) to record an output torque τAS of the output train AS (103); and a current sensor for detecting the motor current IAE of the electric motor AE (101); and a control unit (107) for controlling / regulating the electric motor (101) on the basis of a predetermined dynamic model of the robot gripper, the measured sensor data: qAE, τAS, IAE and a setpoint provided at an interface (111) of the robot gripper, the setpoint being a setpoint Position qSOLL or a target speed q̇SOLL or a target acceleration q̈SOLL or a target torque τSOLL of the electric motor AE (101) or of the output train AS (103).