Safe cooperative gripping device

摘要

A method of controlling a gripping device 2 for a robot 20 comprising two or more gripping structures 4, 4'arranged movably relative to each other and configured to grip an object 8, 16 is disclosed. do. The method includes actively limiting the displacement (ΔD) of at least one of the two or more gripping structures (4, 4') such that the displacement (ΔD) is _{less than or equal to a predefined maximum displacement (ΔD max ).} do. The method comprises the steps of: a) detecting when at least one of the gripping structures 4, 4'is in contact with the object 8, 16, and b) at least one of the two or more gripping structures 4, 4' When it is detected that one has been in contact with the object (8, 16), the force (F) exerted on the object (8, 18) by at least one of the two or more gripping structures (4, 4') is predefined. It includes the step of increasing from the first level (F ₁ ) to the second predefined level (F _{2 ).}