Gripping device which is monitored based on counter electromotive force and a method for controlling the gripping device

A gripping device which is monitored based on counter electromotive force, comprising:

• a gripper;
• a stepper motor connected to the gripper and driving the gripper to perform gripping or releasing motions;
• a controller electrically connected to the stepper motor, and including a drive unit, a control unit, an instruction receiving unit, and an access unit which are electrically connected to one another;
• wherein:
• the drive unit is electrically connected to the stepper motor to rotate the stepper motor, and provides feedback on actual counter electromotive force of the stepper motor;
• the control unit is electrically connected to the drive unit;
• the instruction receiving unit is electrically connected to the control unit, and able to receive a control instruction for controlling gripping status, griping speed, and gripping force of the gripper;
• and
• the access unit is electrically connected to the control unit, a control parameter matrix is stored in the access unit, each position in the matrix corresponds to a counter electromotive force threshold, the control unit is capable of controlling operation of the stepper motor based on the control instruction from the instruction receiving unit, the control unit is further capable of obtaining a threshold by comparing the control instruction with the control parameter matrix, and then the control unit compares the actual counter electromotive force, and controls the stepper motor according to comparison result;
• wherein the control parameter matrix is a three dimensional matrix defined by using the gripping status, the griping speed, and the gripping force as parameters, and the gripping status includes gripping inward and gripping outward.