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US 12,746,663 B2Granted
Method for controlling a gripper
AssigneeCamozzi Automation S.P.A.
InventorsRocco Antonio Romeo, Luca Fiorio, Marco Rossi
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Abstract
A method for controlling grasping of an object by a gripper provides for computing a reference position of a grasped object with respect to a reference system integral with the gripper, and monitoring a position of the grasped object. If a displacement of the grasped object with respect to the reference position is detected, the method provides for commanding the gripper to increase grasping force.
Claims14
A method for controlling grasping of an object by a gripper, the method comprising steps of:
- a) commanding the gripper to grasp the object with a predetermined grasping force;
- b) measuring an effective grasping force;
- c) verifying that a stable grasp of the object is achieved by determining that a difference between the predetermined grasping force and the effective grasping force is below a predetermined threshold value;
- d) subsequent to verifying that the stable grasp is achieved, computing a stable reference position of the grasped object, wherein the stable reference position is computed as an average of a set of measurements obtained over a predetermined time interval by at least one position sensor and/or by at least one center of pressure sensor;
- e) storing the computed stable reference position in a memory;
- f) monitoring a position of the grasped object;
- and
- g) if a displacement of the grasped object with respect to the stored stable reference position is detected, commanding the gripper to increase grasping force.
5 more elements
A gripper, comprising:
- a gripper body;
- at least two grasping jaws movable with respect to the gripper body between an idle open position and a closed position for grasping an object;
- at least one proximity sensor suitable to detect a presence of the object to be grasped within a field of vision of the at least one proximity sensor;
- a grasping force sensor, suitable to measure a grasping force exerted by the grasping jaws on the object;
- at least one center of pressure sensor, suitable to detect coordinates of a center of pressure between the grasping jaws of the gripper when the grasping jaws exert the grasping force on the object;
- and a processing unit comprising a memory and programmed to carry out a method for controlling the gripper, the method comprising steps of:
- a) commanding the gripper to grasp the object with a predetermined grasping force;
- b) measuring an effective grasping force by the grasping force sensor;
- c) verifying that a stable grasp of the object is achieved by determining that a difference between the predetermined grasping force and the effective grasping force is below a predetermined threshold value;
- d) subsequent to verifying that the stable grasp is achieved, computing a stable reference position of the grasped object by computing an average of a set of measurements obtained over a predetermined time interval from the at least one position sensor and/or the at least one center of pressure sensor;
- e) storing the computed stable reference position in the memory;
- f) monitoring a position of the grasped object;
- and
- g) if a displacement of the grasped object with respect to the stored stable reference position is detected, commanding the gripper to increase the grasping force.
11 more elements
Dependencies are inferred from the claim text.