| 摘要 |
Disclosed is a method of control of a manipulator gripper in which clamping a blank is carried out at a minimum, pre-determined effort and during transportation the relative movement of the gripper and the blank is controlled, and in case of slipping the clamping effort is increased. The clamping effort is discretely increased as a function of total displacement sensor signal and its derivative, for which the sensor signal is differentiated. Increase of the clamping effort is taken from the ratio, and the factor of increase is directly proportional to the total signal in the measurement system of displacement. |
