A method for controlling force / position holding means mixing the compliance control, the handheld device and the handheld device and the clamping device

A method for controlling force / position holding means mixing the compliance control, the handheld device and the handheld device and the clamping device, to a force having a handheld remote control force feedback / control bit hybrid compliant clamping techniques. The purpose is to meet the development needs of industrial robots. When the operator turning the hand wheel hand operated device, the recording encoder II hand wheel rotational displacement, rotational displacement of the clamping position command signal as the fieldbus One processor is transferred to the clamping device by. One V-type processor controls the positioning of the clamping arm is moved to the position command. Meanwhile, pressure One processor further information to manually II processor device via the fieldbus. II processor adjusts the driving current based on the magnetic powder brake pressure information, and then adjust the damping torque on the handwheel. The present invention has a remote operation function, and the remote operator can perceive the size of the clamping force, for most accurate flexible gripping require remote control applications.