GRIPPING DEVICE WHICH IS MONITORED BASED ON COUNTER ELECTROMOTIVE FORCE AND A METHOD FOR CONTROLLING THE GRIPPING DEVICE
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United States of America Patent
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Issued Date -
Aug 17, 2017
app pub date -
Feb 17, 2016
filing date -
Feb 17, 2016
priority date (Note) -
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Abstract
A gripping device monitored based on CEMF and a method for controlling the same includes: using a controller to instruct a drive unit to rotate a stepper motor; using the controller to compare the control instruction with a control parameter matrix stored in an access unit; obtaining a CEMF threshold by checking the position of the actual CEMF in the control parameter matrix; using the controller to monitor the actual CEMF; and using the controller to compare the actual CEMF with the threshold, maintaining driving of the stepper motor when the actual CEMF is larger than the threshold, and stopping the stepper motor to maintain the gripping status, when the actual CEMF is smaller than or equal to the threshold. The operation parameters are measured in advance when the stepper motor runs well, which ensures that the objected is stably gripped before abnormality occurs, thus stabilizing the gripping motion.
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