In order to make the gripping force between the end effector and the deformed fruits and vegetables track the setting force quickly and with low overshoot, an incremental proportional integral (PI) force control algorithm based on gray prediction is proposed. The algorithm establishes a gray prediction model by collecting the gripping force received by fruits and vegetables. When the accuracy of the prediction model is high or low, the weight of the prediction force deviation in the comprehensive force deviation is increased or decreased accordingly, so that the force controller can Using the past, current and future fruit and vegetable gripping force information to calculate the appropriate control correction amount to precompensate the gripping force deviation, the controller can obtain the characteristics of small overshoot and fast response. The dynamic grasping process is adaptable. The fruit and vegetable gripping test proves the effectiveness of the grey predictive PI force control algorithm, which can reduce the damage of fruit and vegetable gripping.

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