A waste sorting robot comprises a manipulator comprising a suction gripper for interacting with one or more waste objects to be sorted within a working area, and wherein the manipulator is moveable within the working area. There is a controller configured to send control instructions to the manipulator. At least one pressure sensor is in fluid communication with the suction gripper and configured to generate a pressure signal in dependence on a fluid pressure in the suction gripper. At least one position sensor is configured to generate a position signal in dependence of the position of the manipulator and / or the suction gripper. The controller is configured to receive the pressure signal and the position signal and to determine manipulator instructions in dependence on the pressure signal. The controller determines a suction gripper status in dependence on a position of the manipulator and / or the suction gripper. This means that the controller can adapt and react to differences in pressure at the suction gripper.
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