Control system and method for applying force to grasp a target object

An automation system comprising:

• an end-effector having a plurality of arms, wherein the end-effector is configured to grasp a target object based on a motion trajectory;
• a manipulator having one or more joints, the end-effector coupled to the manipulator, wherein the one or more joints are configured to move the end-effector relative to the target object based on the motion trajectory;
• a force/torque (F/T) sensor that acquires F/T data associated with the end-effector;
• and a controller circuit configured to receive the F/T data, wherein the controller circuit is configured to adjust the motion trajectory based on the F/T data, wherein the F/T data includes a force component and a torque component, and wherein the controller circuit is configured to adjust the motion trajectory to reduce at least one of the force component or the torque component of the F/T data based on target object.