TEACHING A HOLDING FORCE FOR AN OBJECT IN A ROBOTIC GRIPPER

摘要

The invention relates to a method for teaching a holding force for holding an object (9) by means of a gripper (5) of a robot manipulator (3), said gripper (5) having gripper jaws (7) which can be elastically deformed in a reversible manner, wherein the method has the steps of: - closing (S1) the gripper (5) until the gripper jaws (7) contact the object (9) at contact points (15) of the gripper jaws (7), - externally applying (S2) a desired closing force at connection points (13) of the gripper jaws (7) to gripper jaw bearings (11) such that the connection points (13) move relative to the contact points (15), thereby elastically deforming the gripper jaws (7), - actuating (S3) a gripper drive (17) in order to maintain the current position of the connection points (13) and terminating the closing force externally applied onto the connection points (13), and - ascertaining and storing (S4) the value of a gripping force or a gripping torque, wherein the gripping force or the gripping torque is produced by the elastic deformation of the gripper jaws (7) and is exerted onto the connection points (13) by the gripper jaws (7).