Teaching in a Holding Force for an Object in a Robotic Gripper

A robot system to teach in a holding force for holding an object, the system comprising:

• a robot manipulator comprising a gripper arranged on the robot manipulator, the gripper having gripper jaws which are elastically deformable in a reversible manner;
• and
• a computing unit configured to:
• close the gripper until the gripper jaws contact the object at contact points of the gripper jaws;
• externally apply a desired closing force at connection points of the gripper jaws to gripper jaw bearings, such that the connection points move relative to the contact points, thereby elastically deforming the gripper jaws;
• actuate a gripper drive in order to maintain a current position of the connection points, such that after termination of the closing force as externally applied onto the connection points, the connection points maintain their current position;
• and
• ascertain and store a value of a gripping force or a gripping torque, wherein the gripping force or the gripping torque is produced by the elastic deformation of the gripper jaws and is exerted onto the connection points by the gripper jaws.