| 摘要 |
An electric gripper system includes a motor driving a gripper mechanism, a sensor, and a control processing unit. The sensor is assembled onto the motor for generating a current position of the gripper mechanism. The control processing unit 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. |
| 主权项 |
1. An electric gripper system, being configured to control a gripper mechanism to grip a workpiece and comprising:
a motor, being configured to drive the gripper mechanism; a sensor, being assembled onto the motor and generating a current position according to a position of the gripper mechanism; and a control processing unit, comprising a control segment, a transceiver segment, an accessible segment, and a driving segment; the control segment being connected to the transceiver segment, the accessible segment, the driving segment, and the sensor, the transceiver segment generating a relative-position command value, the accessible segment storing an absolute cumulative position; the control segment reading the relative-position command value, the absolute cumulative position, and the current position, the control segment generating a target position based on the relative-position command value and the absolute cumulative position, the control segment generating a driving datum based on the current position and the target position and on a rotation rate of the motor; the driving segment reading the driving datum so as to drive the motor to move the gripper mechanism. |
