A method for controlling a gripping device for a robot comprising: - two or more gripping structures movably arranged relative to each other and being configured to grip an object , wherein the method comprises the step of actively restricting the displacement (ΔD) of at least one of the two or more gripping structures so that said displacement (ΔD) is less than or equal to a predefined maximum displacement (ΔD max ), wherein the method comprises the step of: a) detecting when at least one of gripping structures is in contact with the object and b) increasing the force (F) exerted by at least one of the two or more gripping structures to the object from a predefined first level (F 1 ) to a predefined second level (F 2 ) when it has been detected that at least one of the two or more gripping structures is in contact with the object ; characterised in that the method further comprises the step of: c) detecting when at least one of gripping structures has been in contact with the object in a predefined time period and d) only increasing the force (F) exerted by at least one of the two or more gripping structures to the object if at least one of the gripping structures has been in contact with the object in a time period being longer or equal to the predefined time period, wherein the predefined time period is at least 1ms. - two or more gripping structures movably arranged relative to each other and being configured to grip an object , wherein the method comprises the step of actively restricting the displacement (ΔD) of at least one of the two or more gripping structures so that said displacement (ΔD) is less than or equal to a predefined maximum displacement (ΔD max ), wherein the method comprises the step of: a) detecting when at least one of gripping structures is in contact with the object and b) increasing the force (F) exerted by at least one of the two or more gripping structures to the object from a predefined first level (F 1 ) to a predefined second level (F 2 ) when it has been detected that at least one of the two or more gripping structures is in contact with the object ; characterised in that the method further comprises the step of: c) detecting when at least one of gripping structures has been in contact with the object in a predefined time period and d) only increasing the force (F) exerted by at least one of the two or more gripping structures to the object if at least one of the gripping structures has been in contact with the object in a time period being longer or equal to the predefined time period, wherein the predefined time period is at least 1ms. a) detecting when at least one of gripping structures is in contact with the object and b) increasing the force (F) exerted by at least one of the two or more gripping structures to the object from a predefined first level (F 1 ) to a predefined second level (F 2 ) when it has been detected that at least one of the two or more gripping structures is in contact with the object ; c) detecting when at least one of gripping structures has been in contact with the object in a predefined time period and d) only increasing the force (F) exerted by at least one of the two or more gripping structures to the object if at least one of the gripping structures has been in contact with the object in a time period being longer or equal to the predefined time period, wherein the predefined time period is at least 1ms. <EOS>