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US 2024/0165800 A1Published application
Method for controlling a gripper
AssigneeCamozzi Automation S.P.A.
InventorsRocco Antonio ROMEO, Luca FIORIO, Marco ROSSI
Life of this patent
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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.
Claims17
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) when a difference between the predetermined grasping force and the effective grasping force is below a predetermined threshold value, computing a reference position of the grasped object with respect to a reference system integral with the gripper;
- d) monitoring a position of the grasped object;
- and
- e) if a displacement of the grasped object with respect to the reference position is detected, commanding the gripper to increase grasping force.
3 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 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) when a difference between the predetermined grasping force and the effective grasping force is below a predetermined threshold value, computing, using measurements received from at least one position sensor and/or the at least one center of pressure sensor, a reference position of the grasped object with respect to a reference system integral with the gripper;
- d) monitoring a position of the grasped object;
- and
- e) if a displacement of the grasped object with respect to the reference position is detected, commanding the gripper to increase the grasping force.
10 more elements
Dependencies are inferred from the claim text.