Adaptative Force Control of Grippers Taking into Account the Dynamics of Objects

In this paper, a force control method for grippers is presented, dynamics of objects based on adaptive control, as demonstrated by experiments being also considered. Since present industrial robotic grippers commonly employ the input/output position control method and sometimes the force control method, it is of great interest to control both the force and position of the gripper against the object simultaneously, However, it is not easy to control the gripper without knowing the nature of the objects, because the dynamics of the object inevitably comes into the overall feedback control system.