公开(公告)号：US09796084B2

公开(公告)日：2017-10-24

申请号：US14697127

申请日：2015-04-27

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Wei-Shao Chen ,  Kai-Hsiang Huang ,  I-Hsiang Tseng

IPC: G06F19/00 ,  B25J9/16 ,  G05B19/29

CPC classification number: B25J9/1612 ,  G05B19/29 ,  G05B2219/42204 ,  G05B2219/42249

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.