| 摘要 |
A method of continuous identification of a compressive force of an adaptive robot, according to which a gripping body is moved in such a way that in initial position an object of handling is located between clamping jaws in the centered position relative to the jaws. The jaws are gripped. Then the gripping body is vertically raised with permanent recording of object slippage between the jaws and permanent monitoring of the current value of the gripping body displacement in the vertical direction. The maximum amount of vertical movement of the gripping body is set in accordance with the vertical size of the permissible contact area on the object of handling for the gripping body jaws. If there is no slippage of the object, the value of compressive force identified by the adaptive robot is fixed with an appropriate scaling factor, which corresponds to the weight of the object of handling. Before moving the object the process of final compression of the jaws with the appropriate scaling factor is performed. |
