Electric gripper system and control method thereof
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United States of America Patent
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Oct 24, 2017
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app pub date -
Apr 27, 2015
filing date -
Apr 27, 2015
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Abstract
An electric gripper system includes a motor driving a gripper mechanism, a sensor, and a controller. The sensor is assembled onto the motor for generating a current position of the gripper mechanism. The controller has a control segment, a transceiver segment, an accessible segment, and a driving segment. The control segment generates a target position according to a relative-position command value of the transceiver segment and an absolute cumulative position of the accessible segment. The control segment generates a driving datum based on a difference between the current position and the target position, and on a rotation rate of the motor. The driving segment uses the driving datum to drive the motor to move the gripper mechanism. With calculation among the relative-position command value, the absolute cumulative position, and the current position, the motor is prevented from accumulating positional deviation.
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