Electric motor based holding control systems and methods
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United States of America Patent
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Apr 23, 2019
Grant Date -
Mar 29, 2018
app pub date -
Nov 10, 2017
filing date -
Jun 27, 2011
priority date (Note) -
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Abstract
A holding system includes a force control module configured to generate a force signal to cause a holding device to perform at least one of a hold stroke and a release stroke. The hold stroke includes transitioning a gripping element of the holding device to a first position to grip an object. The release stroke includes transitioning the gripping element to a second position to release the object. The holding device is non-backdrivable. A stall detection module is configured to (i) monitor a sensor signal received from a sensor of an electric motor assembly of the holding device and (ii) detect a first stall condition of an electric motor based on the sensor signal. A shut off module is configured to shut off current to the electric motor based on the detection of the first stall condition during or at an end of the release stroke.
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