首页|Researchers Submit Patent Application, 'Gripper Assembly For A Robotic Manipulat or', for Approval (USPTO 20240408771)
Researchers Submit Patent Application, 'Gripper Assembly For A Robotic Manipulat or', for Approval (USPTO 20240408771)
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News editors obtained the following quote from the background information suppli ed by the inventors:“Known robotic grippers operate with indirect force control schemes using either a position control scheme,or a force plus position contro l scheme. In the position control scheme, the respective positions of the gripper’s finger assemblies are controlled independently of the gripping force applied at the finger assemblies.In the force plus position control scheme, the respec tive positions of the finger assemblies are controlledwith respect to a force l imit. That is, force plus position control schemes do not maintain or adjust thegripping force, but simply limit the maximum force that can be applied at the f inger assemblies. Theproblem with these indirect force control schemes is that they need extra force sensors at the contact areasof the finger assemblies in o rder to measure gripping force. Also, since the force control is done indirectlythrough position, even if there is a feedback of the gripping force, the contro l is prone to instability dueto contact modelling errors. Also, most of the gri ppers in the market are not backdrivable, making themless safe to interact with . Such control schemes are also a source of instability and poor control performance.
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