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OwnerMichael F. Barsky, Douglas K. Linder +1inventors
InventorsMichael F. Barsky, Douglas K. Linder, Richard O. Claus
Estimating the term…
A robot gripper control system is disclosed which uses PVDF piezoelectric sensors to actively damp exerted force. Instead of charge amplifying the output of the piezoelectric transducer, the output voltage is measured as the charge drains across a path of low resistance. Thus, the sensor output is proportional to the rate-of-force exerted by the gripper. The PVDF sensor and a strain gauge are arranged in a proportional and derivative (PD) control system for the control of force of a robot manipulator hand. Experimental results for the particular disclosed gripper indicate that as much as a 900% improvement in force step response rise time and a 300% reduction in overshoot are possible through the use of the PVDF sensor.
In a robot gripper system comprising a gripper mechanism used to engage an object, a motor for operating the gripper mechanism, force sensor means for providing a force signal proportional to the amount of force applied by the gripper mechanism to the object, and a control circuit that receives the force signal and controls the gripper motor, the improvement cmmprising:
A robot gripper control system for controlling the operation of a motor which in turn operates a gripper having a gripper surface used to engaged an object, the control system comprising:
Dependencies are inferred from the claim text.