The invention discloses a self-adaptive grabbing force
control system and method of a
stamping line blanking
manipulator, and relates to the technical field of self-
adaptive control, and the method comprises the following steps: extracting a plurality of
protection layer types corresponding to a plurality of process nodes; when a grabbing instruction is received, the
protection layer type corresponding to the procedure node where the target workpiece is located is determined, and a mechanical arm grabbing strategy is called; the method comprises the steps of collecting a surface image of a target workpiece, recognizing the surface image, collecting protective layer characteristics of the target workpiece, inputting the protective layer characteristics into a
manipulator grabbing force control model for self-adaptive recognition, outputting grabbing force control instruction parameters, and controlling a
manipulator to execute a grabbing action and carry out force control feedback adjustment. According to the mechanical arm, the technical problems that in the prior art, when
stamping workpieces with different protection
layers are subjected to precise recognition and matched with proper grabbing force, grabbing is unstable, the workpieces are prone to being damaged or clamping fails are solved, and the technical effect that the mechanical arm precisely recognizes the workpieces with the different protection
layers and dynamically controls and adjusts force is achieved.