本論文提出一個可選擇夾爪力道模式之控制方法來設計實現一個夾爪系統，本論文使用Arduino微處理器為系統的控制板來確認夾爪是否有夾緊物件。依據不同的夾爪力道模式以及夾取時電流感測器所感測的電流值，本論文設計一個模糊控制器來決定一個可以夾取物件之直流有刷馬達的速度。其原理是當夾爪接觸物件時會產生阻力，並且會使馬達的電流產生變化，利用電流的變化來控制馬達轉速。由實驗結果可知，本論文所提之控制方法確實可以提升夾爪的開合速度與精準度。 In this thesis, a control method which can select a force control mode of the gripper is proposed to design and implement of a gripper system. In this system, an Arduino microprocessor is used as a main control platform in order to confirm whether the gripper tightly grips an object. According to a force control mode of gripper and a current value measured by a current sensor while gripping, a fuzzy controller is designed to decide a motor speed of the DC brush motor to grip objects. The principle is that a resistance will arise when the gripper touches an object and the current of motor will be changed. The proposed method uses the change of current to control the motor speed. From the experimental results, we can see that the proposed control method can effectively improve the opening and closing speed and the accuracy of the gripper.