This is not a question but rather an observation of servo operation.
I am presently programming a robot arm using a servo controlled gripper.
The servo travels from gripper open to gripper closed and at rest draws around 0.1amps
However, when I open the gripper and close it around an object, the servo is unable to reach its limit and has a considerable current increase.
If I back off the servo a small amount, the current returns to 0.1 amps and all is well EXCEPT it releases the object..
My present thoughts are to monitor the servo current and reverse the direction of the servo by small amounts until the current drops. Hopefully it will not also drop the object.
For current sensing I am considering a Lantian 100A AC/DC Linear Current Sensor Hall Current Sensor Module for RC Drone from Banggood although I have not given it a lot of thought as yet. I also have no specs so I'm only guessing regarding its suitability.
My other thought is to line the gripper arms with soft foam rubber so that I can release the grip by a small amount without dropping the object.
NOTE: Perhaps I should have posted this in Topics/Robotics. Moderator, please move this post if you agree.