# US 9,796,084 B2 · Electric gripper system and control method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,796,084 B2 - Document ID: US9796084B2 - Status: Granted - Kind: B2 - Application number: 14/697,127 - Filed: 2015-04-27 - Published: 2016-10-27 - Granted: 2017-10-24 - Earliest claimed: 2015-04-27 - Assignees: Hiwin Technologies Corp. - Applicants: Hiwin Technologies Corp. - Inventors: Wei-Shao Chen; Kai-Hsiang Huang; I-Hsiang Tseng - Web page: https://patentgrep.com/patent/US9796084B2 ## CPC - B25J 9/1612: {characterised by the hand, wrist, grip control} - G05B 19/29: for point-to-point control - G05B 2219/42204: Absolute positions - G05B 2219/42249: Relative positioning - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract An electric gripper system includes a motor driving a gripper mechanism, a sensor, and a controller. The sensor is assembled onto the motor for generating a current position of the gripper mechanism. The controller 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. ## Claims ### Claim 1 A control method for controlling an electric gripper system comprising a motor, being configured to drive a gripper mechanism; a sensor, being assembled onto the motor and generating a current position according to a position of the gripper mechanism; and a controller being configured to function as a control segment, a transceiver segment, an accessible segment, and a driving segment; the controller being connected to 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 a 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 a 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, the method comprising the following steps: a) the control segment receiving the relative-position command value from the transceiver segment, and obtaining the absolute cumulative position from the accessible segment, and the control segment generating the target position based on the relative-position command value and the absolute cumulative position; b) the control segment receiving the current position generated by the sensor, and calculating a distance between the current position and the target position, the control segment generating the driving datum based on the distance between the current position and the target position and on the rotation rate of the motor; c) the driving segment receiving the driving datum, the driving segment driving the motor according to the driving datum to make the gripper mechanism move toward the target position; and d) the control segment determining whether the gripper mechanism has entered a positioning range, and when the gripper mechanism has entered the positioning range, determining that the gripper mechanism has been positioned; otherwise, returning to Step b), wherein in Step d), when the control segment determines that the gripper mechanism has not entered the positioning range, an update-absolute-position accumulating process is performed, in the update-absolute-position accumulating process, when it is determined that the gripper mechanism is moving under an absolute position mode, moving under a gripping mode, or acting abnormally, the current position of the gripper mechanism being stored in the accessible segment so that the current position replaces the absolute cumulative position previously stored in the accessible segment, thereby updating the absolute cumulative position into the current position of the gripper mechanism, and wherein in Step a), when the control segment obtains the relative-position command value and the absolute cumulative position, the control segment overwrites the absolute cumulative position of the accessible segment with a sum of the relative-position command value and the absolute cumulative position, so as to update the absolute cumulative position into the sum of the relative-position command value and the absolute cumulative position. ### Claim 2 (depends on 1) The control method of claim 1, wherein when the update-absolute-position accumulating process is performed, it is first to determine whether the gripper mechanism is moving under the absolute position mode, and if a negative result is obtained, it is then to determine whether the gripper mechanism is moving under the gripping mode, and if a negative result is again obtained, it is then to determine whether the gripper mechanism is acting abnormally, and if a negative result is obtained, the update-absolute-position accumulating process is ended. ### Claim 3 (depends on 1) The control method of claim 1, wherein the positioning range is a specification tolerance of the workpiece. ### Claim 4 (depends on 1) The control method of claim 1, wherein the driving datum is an acceleration curve of the motor.