The invention discloses a
manipulator clamping force control method and device based on motor driving, and relates to the field of intelligent manipulators. Comprising the following steps that the
mass of a to-be-clamped object is obtained, and basic
friction force is calculated; collecting object shape characteristic parameters such as the maximum
boundary length, the outer surface area and the volume, and calculating a shape
influence coefficient; then, acquiring surface characteristic parameters such as average curvature, irregularity and projection area, calculating a surface concave-convex coefficient, and generating a shape
complexity index in combination with the shape
influence coefficient; then, acquiring material characteristic parameters such as
hardness and
elastic modulus, determining and correcting a basic
friction coefficient, and calculating
friction force; and finally, the
instantaneous speed of the clamping task of the
manipulator is obtained, the
impact load is calculated, the basic
friction force is corrected based on the parameters, the accurate clamping force is obtained, and therefore the accurate control over the clamping force of the
manipulator is achieved. According to the method, the clamping effect and safety are improved, and the method is suitable for various clamping scenes.