Manipulator, control method for manipulator and shaft end spherical surface grinding equipment

The invention belongs to the technical field of grinding equipment, and particularly discloses a manipulator, a control method for the manipulator and shaft end spherical surface grinding equipment. The manipulator comprises a mechanical arm, a mechanical claw and a controller. The mechanical claw comprises a base and a clamping assembly, the clamping assembly comprises a clamping part, a driving part and a detecting part, the clamping part comprises at least two clamping blocks, and the at least two clamping blocks have clamping positions close to each other and opening positions separated from each other; the driving part is used for driving the clamping part to be switched between a clamping position and an opening position, the detection part comprises a limiting mechanism and a detection element, and the limiting mechanism is used for touching an element to be clamped and triggering the detection element to send out a detection signal; the controller controls the driving part according to a detection sig