gripperkontroll

Gripperkontroll refers to the control of a robotic gripper, the end effector used to grasp and manipulate objects. It covers actuation, sensing, and control logic that determine when and how a gripper closes, the force applied, and when it releases an object. Gripperkontroll is implemented with technologies such as pneumatic and hydraulic actuators, electric motors (servo or stepper), and hybrid solutions. Control objectives include achieving the desired grasp posture, applying safe and sufficient grip, and ensuring reliable release.

Control strategies include position control to set jaw opening, force or torque control to regulate gripping pressure, and impedance or compliant control to adapt to contact. Hybrid approaches combine these objectives to handle different object stiffness and surface properties. Sensing may involve position encoders, pressure sensors, force-torque sensors, tactile arrays, and vacuum level sensors. Closed-loop control uses feedback to adjust actuators in real time and is often integrated with higher-level planning and gripper state machines.

Common gripper types include parallel-jaw grippers, suction cups, and soft or compliant grippers. Each type requires tailored control to address slip, orientation, delicate handling, and payload limits. Safety and reliability considerations include overtravel prevention, force limits, fault handling, and adherence to standards such as ISO 10218 for industrial robots and ISO/TS 15066 for collaborative robots.

Gripperkontroll is central to automated assembly, packaging, and material handling, and it continues to evolve with advances in soft robotics, tactile sensing, and modular control architectures.