A mechanical arm gripper control method and device, electronic equipment and storage medium

Abstract

The application discloses a mechanical arm gripper control method and device, electronic equipment and storage medium, through constructing a parameter set containing torque, speed, position and clamping flag after initialization is completed, and implementing write and read back check on the register corresponding to each parameter before control execution, the accuracy of the bottom layer control parameter issuing is effectively guaranteed, and the misoperation and abnormal clamping caused by bus interference or register writing exception are avoided; further, through combining the clamping flag judgment and determining the clamping result, and triggering the adaptive adjustment strategy to adjust the parameter set and re-control the clamping when the clamping operation fails, the limitation that the existing technology is interrupted and wrong when single control fails is broken, the automation closed loop error correction and parameter self adjustment of the clamping process are realized, and the operation coherence and control robustness of the mechanical arm gripper when facing the working condition fluctuation are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm gripper control technology, and in particular to a robotic arm gripper control method, a robotic arm gripper control device, an electronic device, and a readable storage medium. Background Technology

[0002] In industrial automation, robotic grippers often receive parameter commands from a host computer via a gripper controller to perform the grasping and handling of objects. Related robotic gripper control schemes typically either directly drive the actuator after receiving the control command or only perform a single verification of the communication layer's received status. In this mode, if the register experiences abnormal values ​​during data writing due to bus interference, hardware failure, or parameter out-of-bounds errors, the controller cannot promptly identify the deviation between the actual register value and the target parameter. Directly executing the gripping operation based on the abnormal parameters can easily lead to insufficient gripping torque causing material to fall, or excessive gripping torque damaging the target object. Summary of the Invention

[0003] The present invention provides a robotic arm gripper control method, device, electronic device, and readable storage medium to overcome or at least partially solve the above-mentioned problems.

[0004] To solve the above-mentioned technical problems, this application is implemented as follows: In a first aspect, embodiments of this application provide a robotic arm gripper control method, wherein the robotic arm gripper is configured with a corresponding gripper controller, and the method is applied to the gripper controller, comprising: After the robotic arm gripper completes the initialization operation, a parameter set is generated; the parameter set includes gripping torque, gripper speed, target position, and gripping marker. Based on the gripping torque, the gripper speed, and the target position, write and read-back verification operations are performed on the registers corresponding to the robotic arm gripper to generate register verification and detection results for the robotic arm gripper. When the result of the determination register verification test meets the preset conditions, and the gripping flag determines that the robotic arm gripper needs to grip the target object, the gripping result for the target object is determined. When the clamping result is determined to be a clamping result that characterizes the clamping operation for the target object as a failure, an adaptive adjustment strategy for the robotic arm gripper is determined, and the parameter set is adjusted based on the adaptive adjustment strategy before the robotic arm gripper is controlled to re-execute the clamping.

[0005] Optionally, before the step of generating the parameter set, the method further includes: Configure the end serial port parameters of the robotic arm gripper, establish a Modebus communication link based on the Modebus protocol, and obtain the slave station identifier through the Modebus communication link; Based on the slave station identifier, the initialization status query interface is called to send a read command to the initialization status register of the robotic arm gripper, and the read data is parsed to generate the initial status enumeration value; When the gripper of the robotic arm is determined to be in a non-initialization completed state based on the initial state enumeration value, initialization trigger parameters are written to the initialization register of the robotic arm gripper, and a system ready signal is generated after confirming that the gripper is updated to the initialization completed state.

[0006] Optionally, the register includes a torque register, a speed register, and a position register. The step of performing write and read-back verification operations on the registers corresponding to the robotic arm gripper based on the gripping torque, the gripper speed, and the target position to generate register verification and detection results for the robotic arm gripper includes: Based on the gripping torque and the torque register, a first verification and detection result is generated to express whether the robotic arm gripper meets the constraint conditions in the torque dimension; When it is determined based on the first verification and detection result that the robotic arm gripper meets the constraint conditions in the torque dimension, a second verification and detection result is generated based on the gripper speed and the speed register to express whether the robotic arm gripper meets the constraint conditions in the speed dimension. When it is determined that the robotic arm gripper meets the constraint conditions in the speed dimension based on the second verification detection result, a third verification detection result is generated based on the target position and the position register to express whether the robotic arm gripper meets the constraint conditions in the position dimension. The first verification detection result, the second verification detection result, and the third verification detection result are determined as the register verification detection result.

[0007] Optionally, the step of generating a first verification and detection result based on the gripping torque and the torque register to express whether the robotic arm gripper meets the constraint conditions in the torque dimension includes: A preset limiting function is invoked to perform interval constraint processing on the clamping torque, thereby generating a limiting clamping torque; Construct a setting value string containing the amplitude limiting clamping torque; The setting value string is written to the torque register via the Modbus communication link, generating a write completion indication; In response to generating the write completion indication, the current value of the torque register is read via the Modbus communication link, and the acquired torque value is generated based on the current value of the torque register; By comparing the acquired torque value with the limiting clamping torque, when the acquired torque value is consistent with the limiting clamping torque, a first verification and detection result is generated to express that the robotic arm gripper meets the constraint conditions in the torque dimension.

[0008] Optionally, the step of generating a second verification and detection result based on the gripper speed and the speed register to express whether the robotic arm gripper meets the constraint conditions in the speed dimension includes: A preset limiting function is invoked to perform interval constraint processing on the gripper speed, thereby generating a limited gripper speed; Construct a speed setting value string containing the speed of the limiting gripper; The speed setting value string is written to the speed register via the Modebass communication link, generating a speed write completion indication; In response to the generation of the speed write complete indication, the current value of the speed register is read via the Modbus communication link to generate the acquired speed value; By comparing the acquired speed value with the speed of the limiting gripper, when the acquired speed value is consistent with the speed of the limiting gripper, a second verification and detection result is generated to express that the robotic arm gripper meets the constraint conditions in the speed dimension.

[0009] Optionally, the step of generating a third verification and detection result based on the target position and the position register to express whether the robotic arm gripper meets the constraints in the position dimension includes: A preset amplitude limiting function is invoked to perform interval constraint processing on the target position, thereby generating an amplitude-limited target position; Construct a position setting value string containing the position of the limiting target; The location setting value string is written to the location register via the Modebass communication link, generating a location write completion indication; In response to generating the location write complete indication, the current value of the location register is read via the Modbus communication link to generate the acquired location value; By comparing the acquired position value with the limiting target position, when the acquired position value is consistent with the limiting target position, a third verification and detection result is generated to express that the robotic arm gripper meets the constraint conditions in the position dimension.

[0010] Optionally, the register further includes a clamping status register. The step of determining the clamping result for the target object when the determination register verification result meets preset conditions and the gripping flag indicates that the robotic arm gripper needs to grip the target object includes: In response to generating a third verification and detection result that expresses that the robotic arm gripper meets the constraint conditions in the position dimension, and when it is determined by the gripping flag that the robotic arm gripper needs to grip the target object, a preset gripping control function is called to send a query request to the gripping status register and obtain the initial gripping state based on the query request. When it is determined that the initial clamping state is in motion and the attempt count has not reached the maximum number of clamping attempts, the current clamping state of the clamping state register is queried cyclically according to the preset clamping waiting interval; When the loop query process ends and the current gripping state is still in motion, a gripping result is generated to indicate that the robotic arm gripper cannot continue to perform gripping operations on the target object. When it is determined that the current gripping state is not in motion, the final force state of the robotic arm gripper on the target object is obtained; When the final force state is a clamping and holding state, a clamping result is generated to characterize the success of the clamping operation. When the final force state is that the object falls, a clamping result is generated to characterize the failure of the clamping operation.

[0011] Optionally, the step of determining an adaptive adjustment strategy for the robotic arm gripper, and adjusting the parameter set based on the adaptive adjustment strategy before controlling the robotic arm gripper to re-execute the gripping action includes: The clamping torque is increased by a preset increment, and the gripper speed is decreased by a preset decrement, thereby generating an updated clamping torque and an updated gripper speed. Based on the updated gripping torque and the updated gripper speed, the robotic arm gripper is controlled to perform a gripping operation on the target object again, and a gripping result for this round is generated. The gripping result for this round is used to execute the steps of increasing the gripping torque by a preset increment and decreasing the gripper speed by a preset decrement when the gripping operation for this round fails, thereby generating an updated gripping torque and an updated gripper speed.

[0012] Secondly, embodiments of this application provide a robotic arm gripper control device, wherein the robotic arm gripper is configured with a corresponding gripper controller, and the device is applied to the gripper controller, comprising: The parameter set generation module is used to generate a parameter set after the robotic arm gripper completes the initialization operation; the parameter set includes gripping torque, gripper speed, target position, and gripping mark; The register verification and detection result generation module is used to perform write and read-back verification operations on the registers corresponding to the robotic arm gripper based on the gripping torque, the gripper speed, and the target position, respectively, to generate register verification and detection results for the robotic arm gripper. The clamping result determination module is used to determine the clamping result for the target object when the determination register verification detection result meets the preset conditions and the clamping flag determines that the robotic arm gripper needs to clamp the target object. The clamping control module is re-executed to determine an adaptive adjustment strategy for the robotic arm gripper when the clamping result is determined to be a clamping result that characterizes the clamping operation for the target object as failed. Based on the adaptive adjustment strategy, the parameter set is adjusted and the robotic arm gripper is controlled to re-execute the clamping.

[0013] Thirdly, embodiments of this application provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0014] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0015] Fifthly, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the first aspect.

[0016] The embodiments of the present invention have the following advantages: In this embodiment of the invention, by constructing a parameter set including torque, speed, position, and gripping flags after initialization, and performing write and read-back verification on the registers corresponding to each parameter before control execution, the accuracy of the underlying control parameters is effectively guaranteed, avoiding misoperation and abnormal gripping caused by bus interference or abnormal register writes. Furthermore, by combining the gripping flags to determine the gripping result, and triggering an adaptive adjustment strategy to adjust the parameter set and re-control the gripping when the gripping operation fails, the limitation of the prior art of interrupting and throwing errors upon a single control failure is broken, realizing automated closed-loop error correction and parameter self-adjustment in the gripping process, significantly improving the operational continuity and control robustness of the robotic arm gripper when facing fluctuations in working conditions. Attached Figure Description

[0017] Figure 1This is a flowchart of the steps of a robotic arm gripper control method provided in an embodiment of the present invention; Figure 2 This is a block diagram of the overall architecture of a torque adaptive gripper control system provided in an embodiment of the present invention; Figure 3 This is a flowchart of a torque adaptive parameter setting method provided in an embodiment of the present invention; Figure 4 This is a flowchart of a retry gripping control provided in an embodiment of the present invention; Figure 5 This is a semantic diagram of the state transition and clamping state of a gripper initialization four-state machine provided in this embodiment of the invention; Figure 6 This is a diagram illustrating a register addressing protocol structure provided in an embodiment of the present invention. Figure 7 This is a flowchart of an adaptive torque closed-loop control provided in an embodiment of the present invention; Figure 8 This is a structural block diagram of a robotic arm gripper control device provided in an embodiment of the present invention; Figure 9 This is a hardware structure block diagram of an electronic device provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of a computer-readable medium provided in an embodiment of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Reference Figure 1The diagram illustrates a flowchart of a robotic arm gripper control method provided in an embodiment of the present invention, which may specifically include the following steps: Step 101: After the robotic arm gripper completes the initialization operation, a parameter set is generated; the parameter set includes gripping torque, gripper speed, target position, and gripping marker. Step 102: Based on the gripping torque, the gripper speed, and the target position, perform write and read-back verification operations on the registers corresponding to the robotic arm gripper to generate register verification and detection results for the robotic arm gripper. Step 103: When the determination register verification detection result meets the preset conditions, and the gripping flag determines that the robotic arm gripper needs to grip the target object, the gripping result for the target object is determined. Step 104: When the clamping result is determined to be a clamping result that characterizes the clamping operation for the target object as failed, an adaptive adjustment strategy for the robotic arm gripper is determined, and the parameter set is adjusted based on the adaptive adjustment strategy before the robotic arm gripper is controlled to re-execute the clamping.

[0022] In this embodiment of the invention, after the robotic arm gripper completes the initialization operation, a parameter set is generated. The parameter set includes gripping torque, gripper speed, target position, and gripping flag. Under the premise that the gripper hardware and communication are in a working state, the core control parameters required for this grasping task are centrally constructed and pre-prepared, providing a unified data basis for subsequent register configuration and logic judgment.

[0023] A robotic gripper is an end effector installed at the end of a robotic arm to perform actions such as grasping, holding, or transporting objects.

[0024] The initialization operation refers to the process by which the gripper controller resets, checks, and confirms the readiness of its internal registers, communication links, and hardware zero points.

[0025] The parameter set refers to a structured dataset containing the multi-dimensional control variables and control commands required for this clamping task.

[0026] The gripping torque refers to the preset parameter value used to control the maximum gripping force output by the gripper motor.

[0027] The gripper speed refers to the preset parameter value used to control the movement rate of the gripper fingers during the opening and closing motion.

[0028] The target position refers to the preset parameter value used to control the gripper stroke or the position reached when opening / closing.

[0029] The gripping flag is a logical indication signal used to indicate whether the current task needs to perform a specific gripping action.

[0030] The embodiments of the present invention can perform write and read-back verification operations on the registers corresponding to the robotic arm gripper based on the gripping torque, the gripper speed, and the target position, respectively, to generate register verification and detection results for the robotic arm gripper. Through the write, read-back, and comparison mechanism, the actual parameters stored in the gripper's physical register are verified to be strictly consistent with the preset target parameters, preventing the gripper from operating with abnormal parameters due to interference or write failure.

[0031] A register refers to a physical storage unit inside the gripper controller used to store control parameters and hardware status information.

[0032] The write and read-back verification operation refers to the process of first sending the set parameters and writing them into the corresponding register, then immediately reading the current value of the register, and verifying the consistency between the written value and the read-back value.

[0033] Register verification test results refer to the logical judgment conclusions used to characterize whether torque, speed, and position parameters have been successfully and accurately written to the corresponding registers.

[0034] In this embodiment of the invention, when the register verification detection result meets the preset conditions and the gripping flag indicates that the robotic arm gripper needs to grip the target object, the gripping result for the target object is determined. When the underlying physical parameters are confirmed to be accurate and the task clearly requires gripping, the gripping action is formally triggered and the final gripping execution state is collected and evaluated, thereby realizing a closed loop of control logic.

[0035] The preset conditions refer to the consistency matching rules that must be met to determine whether the write and read-back verifications are successful.

[0036] The target object refers to the physical object that the robotic arm gripper needs to hold or move in this task.

[0037] The clamping result refers to the classification and evaluation conclusion made based on the feedback from the gripper sensor or status register regarding the actual state achieved after the clamping action is performed.

[0038] In this embodiment of the invention, when the clamping result is determined to be a clamping result that characterizes the clamping operation for the target object as failed, an adaptive adjustment strategy for the robotic arm gripper can be determined, and the parameter set can be adjusted based on the adaptive adjustment strategy before the robotic arm gripper is controlled to re-execute the clamping. In order to avoid the system directly reporting an error and interrupting when the first grasping fails, the system is given self-healing and adaptive adjustment capabilities by automatically correcting the parameter set and trying clamping again.

[0039] The adaptive adjustment strategy refers to the control algorithm rules that automatically calculate and correct clamping torque, speed and other parameters according to preset rules based on the reasons for the previous clamping failure.

[0040] The clamping finger is re-executed to update the parameter set with the adjusted parameters, and the secondary control process of register configuration and gripper grasping action is re-triggered.

[0041] In this embodiment of the invention, by constructing a parameter set including torque, speed, position, and gripping flags after initialization, and performing write and read-back verification on the registers corresponding to each parameter before control execution, the accuracy of the underlying control parameters is effectively guaranteed, avoiding misoperation and abnormal gripping caused by bus interference or abnormal register writes. Furthermore, by combining the gripping flags to determine the gripping result, and triggering an adaptive adjustment strategy to adjust the parameter set and re-control the gripping when the gripping operation fails, the limitation of the prior art of interrupting and throwing errors upon a single control failure is broken, realizing automated closed-loop error correction and parameter self-adjustment in the gripping process, significantly improving the operational continuity and control robustness of the robotic arm gripper when facing fluctuations in working conditions.

[0042] For example, On an automated production line, a robotic arm gripper grasps smooth, slippery metal workpieces. After completing serial communication and zero-point initialization, the gripper controller receives a parameter set generated by the upper-level task, setting the gripping torque to 50%, the gripping speed to 80 mm / s, the target position to 10 mm, and the gripping flag to "grip required" (value 1). The gripper controller writes the 50% torque, 80 mm / s speed, and 10 mm position to the corresponding torque, speed, and position registers via the Modbus protocol, and then immediately reads the current values ​​of these three registers. Upon comparison, the read values ​​are completely consistent with the written values, generating a register verification result of "verification passed." Because the verification passed and the gripping flag is 1, the gripper controller drives the gripper to close and perform clamping according to the above parameters. After closure, the clamping status register is checked, and it is detected that the workpiece slipped during clamping, with the feedback force status being "falling," thus determining the clamping result as "clamping operation failed." The gripper controller detected a "gripping operation failure" and triggered an adaptive adjustment strategy. It increased the gripping torque by a preset increment to 65%, reduced the gripper speed by a preset increment to 60 mm / s, and updated the parameter set. Subsequently, the controller re-executed register verification based on the adjusted parameters and controlled the gripper to close again, ultimately successfully and stably clamping the workpiece.

[0043] Based on the above embodiments, modified embodiments of the above embodiments are proposed. It should be noted that, in order to keep the description brief, only the differences from the above embodiments are described in the modified embodiments.

[0044] In an optional embodiment of the present invention, prior to the step of generating the parameter set, the method further includes: Configure the end serial port parameters of the robotic arm gripper, establish a Modebus communication link based on the Modebus protocol, and obtain the slave station identifier through the Modebus communication link; Based on the slave station identifier, the initialization status query interface is called to send a read command to the initialization status register of the robotic arm gripper, and the read data is parsed to generate the initial status enumeration value; When the gripper of the robotic arm is determined to be in a non-initialization completed state based on the initial state enumeration value, initialization trigger parameters are written to the initialization register of the robotic arm gripper, and a system ready signal is generated after confirming that the gripper is updated to the initialization completed state.

[0045] In this embodiment of the invention, a stable communication link based on the Modbus protocol is established by configuring serial port parameters, and the initialization status of the gripper is actively queried and verified by combining the slave station identifier. If it is not ready, the initialization process is automatically triggered and confirmed to be completed, thereby providing a reliable and reset physical hardware and communication environment for subsequent gripper parameter verification and accurate execution of gripping actions.

[0046] A robotic gripper is an end effector installed at the end of a robotic arm to perform actions such as grasping, holding, or transporting objects.

[0047] End-of-line serial port parameters refer to the underlying serial port configuration information necessary for communication between the gripper controller and the gripper hardware, including baud rate, data bits, stop bits, and parity bits.

[0048] The Modebest protocol refers to a general-purpose serial communication protocol with a Master / Slave architecture used in industrial control.

[0049] The Modebs communication link refers to a logical communication channel established based on the Modebs protocol for transmitting instructions and data between the gripper controller and the gripper hardware.

[0050] The slave identifier refers to the device address number used to uniquely identify a specific gripper hardware node in the Modebass communication network.

[0051] The initialization status query interface refers to the software function or program module preset in the gripper controller that is used to construct and send initialization status reading commands.

[0052] The initialization status register refers to the physical storage unit inside the gripper hardware used to store and reflect the current initialization and operating status of the gripper in real time.

[0053] A read instruction refers to an instruction frame issued in accordance with the Modbus protocol format to retrieve data from the internal memory of a specified register.

[0054] The initial state enumeration value refers to the predefined value or label obtained after parsing the original data read back from the register, which is used to express a specific state type of the gripper (such as uninitialized, initializing, initialization completed).

[0055] The gripper readiness status refers to the overall operating status used to characterize whether the gripper hardware has completed zero-point calibration, motor reset, and enable preparation.

[0056] The initialization register refers to the physical control storage unit inside the gripper hardware used to receive initialization trigger control instructions.

[0057] The initialization trigger parameter refers to the specific control value written into the initialization register used to drive the automatic reset and zero-point calibration actions of the gripper hardware.

[0058] The system ready signal refers to the logical indication signal generated after confirming that the gripper has successfully completed initialization, which is used to notify the upper control system that it can start issuing business control parameters.

[0059] For example, the gripper controller first configures the end-of-line serial port parameters such as baud rate (e.g., 115200), data bits, and parity bits to establish a serial communication link with the robotic arm's end-of-line gripper based on the Modbus protocol, and obtains the gripper's slave identifier (e.g., device address 1) through bus scanning or preset configuration. Then, the controller calls the initialization status query interface, sends a read command to the initialization status register of slave address 1, receives and parses the returned data frame to generate an initial status enumeration value. If the parsed enumeration value shows that the gripper's ready status is "uninitialized", the controller immediately writes a specific trigger value (e.g., 0x01) to the gripper's initialization register to start the gripper hardware's zero-point reset and self-test. Subsequently, the controller continuously or periodically polls the initialization status register until the read-back status is updated to "initialization complete". At this time, the controller outputs a system ready signal to the system, officially allowing subsequent parameter distribution and gripping task execution.

[0060] In this embodiment of the invention, by explicitly establishing a communication link based on the Modbus protocol and obtaining the slave station identifier before executing the grasping operation, the continuity and accuracy of communication between the controller and the terminal actuator are ensured. At the same time, by actively reading the initialization status register and parsing the enumeration value, the physical readiness status of the gripper is accurately perceived, avoiding control failure or hardware collision caused by blindly issuing grasping commands when the hardware is not reset or in an abnormal state. Furthermore, by automatically writing the initialization trigger parameters and generating a system readiness signal after the status is updated, an automatic closed-loop confirmation mechanism for hardware initialization is constructed, which significantly improves the automation level, startup reliability, and operational safety of the robotic arm gripper control system.

[0061] In an optional embodiment of the present invention, the register includes a torque register, a speed register, and a position register. The step of performing write and read-back verification operations on the registers corresponding to the robotic arm gripper based on the gripping torque, the gripper speed, and the target position to generate register verification and detection results for the robotic arm gripper includes: Based on the gripping torque and the torque register, a first verification and detection result is generated to express whether the robotic arm gripper meets the constraint conditions in the torque dimension; When it is determined based on the first verification and detection result that the robotic arm gripper meets the constraint conditions in the torque dimension, a second verification and detection result is generated based on the gripper speed and the speed register to express whether the robotic arm gripper meets the constraint conditions in the speed dimension. When it is determined that the robotic arm gripper meets the constraint conditions in the speed dimension based on the second verification detection result, a third verification detection result is generated based on the target position and the position register to express whether the robotic arm gripper meets the constraint conditions in the position dimension. The first verification detection result, the second verification detection result, and the third verification detection result are determined as the register verification detection result.

[0062] In this embodiment of the invention, a three-level serial verification mechanism of "torque, speed and position" is constructed. Before the robotic arm gripper actually executes the grasping action, the torque, speed and position parameters stored in the physical register are strictly verified for compliance according to logical priority. This ensures that the final register verification result is generated only after all core control dimensions have passed the verification, thereby providing complete underlying parameter protection for the accurate and safe operation of the gripper.

[0063] A robotic gripper is an end effector installed at the end of a robotic arm to perform actions such as grasping, holding, or transporting objects.

[0064] The gripping torque refers to the preset parameter value used to control the maximum gripping force output by the gripper motor.

[0065] A torque register is a physical storage unit within the gripper hardware used to store and reflect the current torque control parameters of the gripper.

[0066] Constraints refer to pre-defined rules or range limits used to determine whether the actual value in the register is legal, safe, and consistent with the target value.

[0067] The first verification result refers to the logical judgment conclusion used to characterize whether the parameters in the torque register meet the preset constraints in the torque dimension.

[0068] The gripper speed refers to the preset parameter value used to control the movement rate of the gripper fingers during the opening and closing motion.

[0069] A speed register is a physical storage unit within the gripper hardware used to store and reflect the current speed control parameters of the gripper.

[0070] The second verification result refers to the logical judgment conclusion used to characterize whether the parameters in the speed register meet the preset constraints in the speed dimension.

[0071] The target position refers to the preset parameter value used to control the gripper stroke or the position reached when opening / closing.

[0072] A position register is a physical storage unit within the gripper hardware used to store and reflect the current position control parameters of the gripper.

[0073] The third verification result refers to the logical judgment conclusion used to characterize whether the parameters in the position register meet the preset constraints in the position dimension.

[0074] The register verification test result refers to the final logical judgment conclusion determined by combining the first verification test result, the second verification test result, and the third verification test result, which is used to characterize whether the overall configuration of the core register parameters of the gripper is qualified.

[0075] For example, the gripper controller first writes the target gripping torque into the torque register and reads the current value for comparison and verification, generating a first verification result. If the torque dimension meets the constraint conditions (i.e., the first verification result is passed), the controller then triggers the verification of the speed dimension, writes the target gripper speed into the speed register and reads it for comparison, generating a second verification result. If the speed dimension also meets the constraint conditions (i.e., the second verification result is passed), the controller further triggers the verification of the position dimension, writes the target position into the position register and reads it for comparison, generating a third verification result. Finally, the controller performs a logical AND operation on the first, second, and third verification results. Only when all three individual verifications are passed is the overall register verification result deemed passed, thus allowing the next gripping control process to proceed.

[0076] This invention establishes a clear and prioritized underlying parameter defense system by employing a progressive serial verification architecture based on torque, speed, and position. This avoids security risks caused by blindly activating hardware due to any dimension parameter failing to be written successfully or exceeding its limit. Furthermore, prioritizing torque as the primary verification dimension ensures gripping safety and eliminates the risk of target object damage or falling due to abnormal torque at the lowest level. Moreover, by summarizing the individual verification results of the three dimensions to determine the final register verification result, the invention achieves centralized management and closed-loop confirmation of multi-dimensional parameter configuration states, significantly improving the configuration reliability and operational robustness of the robotic arm gripper control system in complex industrial environments.

[0077] In an optional embodiment of the present invention, the step of generating a first verification and detection result based on the gripping torque and the torque register to express whether the robotic arm gripper meets the constraint conditions in the torque dimension includes: A preset limiting function is invoked to perform interval constraint processing on the clamping torque, thereby generating a limiting clamping torque; Construct a setting value string containing the amplitude limiting clamping torque; The setting value string is written to the torque register via the Modbus communication link, generating a write completion indication; In response to generating the write completion indication, the current value of the torque register is read via the Modbus communication link, and the acquired torque value is generated based on the current value of the torque register; By comparing the acquired torque value with the limiting clamping torque, when the acquired torque value is consistent with the limiting clamping torque, a first verification and detection result is generated to express that the robotic arm gripper meets the constraint conditions in the torque dimension.

[0078] In this embodiment of the invention, by applying range-limiting constraints to the original gripping torque before delivery and employing a complete closed-loop verification process of "string construction to Modbus writing to reading back the current value to consistency comparison", the value actually written into the torque register is ensured to not only conform to the hardware safety boundary but also strictly match the expected set safety torque, thereby providing a reliable guarantee for the precise and safe control of the robotic arm gripper in the torque dimension.

[0079] A limiting function is a pre-defined mathematical rule or software algorithm used to restrict input values ​​to a specified range of minimum and maximum safety thresholds.

[0080] The gripping torque refers to the preset original parameter value used to control the maximum gripping force output by the gripper motor.

[0081] Interval constraint processing refers to the process of determining whether the input parameter exceeds the set interval through a limiting function, and if it does, forcibly correcting it to the interval boundary value for numerical normalization.

[0082] Limiting clamping torque refers to the torque parameter value that conforms to the hardware safety range after the original clamping torque has been processed by interval constraint.

[0083] The set value string refers to the text or byte stream string generated after encoding and encapsulating the numerical limiting clamping torque according to the Modbus protocol instruction format.

[0084] The Modebs communication link refers to a logical communication channel established based on the Modebs protocol for transmitting instructions and data between the gripper controller and the gripper hardware.

[0085] A torque register is a physical storage unit within the gripper hardware used to store and reflect the current torque control parameters of the gripper.

[0086] The write completion indicator is a logical indication signal generated after a data frame is successfully sent to the target register via the communication link, indicating that the write operation has been completed.

[0087] Obtaining the torque value refers to the current torque value that is actually read and parsed from the torque register via the communication link after the write operation is completed.

[0088] The first verification result refers to the logical judgment conclusion that the torque value obtained by comparison is consistent with the clamping torque, and is used to characterize whether the parameters in the torque register meet the preset constraints in the torque dimension.

[0089] A robotic gripper is an end effector installed at the end of a robotic arm to perform actions such as grasping, holding, or transporting objects.

[0090] For example, the gripper controller first inputs the raw gripping torque into a preset limiting function (e.g., limiting the torque to a safe range of 10%-100%). If the input value is 120%, it automatically truncates to generate a 100% limiting gripping torque. Next, the controller constructs the limiting gripping torque into a hexadecimal setting value string containing a function code and register address according to the Modbus RTU format, and writes it into the gripper's torque register via a serial communication link. After receiving a write completion indication, the controller immediately sends a read command to the torque register, reads the currently saved value from the torque register, and parses it into the obtained torque value. Finally, the controller compares the obtained torque value with the previously issued limiting gripping torque. If the two values ​​are exactly the same, a first verification detection result indicating that the torque dimension verification has passed is generated.

[0091] This invention, by introducing a limiting function at the source of parameter input for range constraint processing, effectively prevents gripper overload damage and mechanical damage caused by erroneous input or excessive parameter input. Simultaneously, by constructing a setting value string and combining it with the Modbus protocol for a closed-loop verification process of "write-readback-comparison," write anomalies caused by bus line interference, data packet loss, or hardware register failure can be identified in a timely manner. The combination of these two methods ensures that the parameters written to the torque register satisfy both physical security and data consistency, significantly improving the reliability and anti-interference capability of the robotic arm gripper in the torque control dimension.

[0092] In an optional embodiment of the present invention, the step of generating a second verification and detection result based on the gripper speed and the speed register to express whether the robotic arm gripper meets the constraint conditions in the speed dimension includes: A preset limiting function is invoked to perform interval constraint processing on the gripper speed, thereby generating a limited gripper speed; Construct a speed setting value string containing the speed of the limiting gripper; The speed setting value string is written to the speed register via the Modebass communication link, generating a speed write completion indication; In response to the generation of the speed write complete indication, the current value of the speed register is read via the Modbus communication link to generate the acquired speed value; By comparing the acquired speed value with the speed of the limiting gripper, when the acquired speed value is consistent with the speed of the limiting gripper, a second verification and detection result is generated to express that the robotic arm gripper meets the constraint conditions in the speed dimension.

[0093] In this embodiment of the invention, by limiting the speed of the original gripper within a range before distribution and employing a closed-loop verification mechanism of "speed string construction to Modbus writing to reading back the current speed value to consistency comparison", the value actually written into the speed register is ensured to not only meet the hardware safety and stable operation boundaries, but also strictly match the expected speed, thereby providing a reliable guarantee for the precise and stable control of the robotic arm gripper in the speed dimension.

[0094] A limiting function is a pre-defined mathematical rule or software algorithm used to restrict input values ​​to a specified range of minimum and maximum safety thresholds.

[0095] The gripper speed refers to the preset initial movement rate parameter value used to control the opening and closing motion of the gripper fingers.

[0096] Interval constraint processing refers to the process of determining whether the input parameter exceeds the set interval through a limiting function, and if it does, forcibly correcting it to the interval boundary value for numerical normalization.

[0097] Limiting gripper speed refers to the speed parameter value that conforms to the hardware's safe motion range after the original gripper speed has been processed by interval constraint.

[0098] The speed setting value string refers to the text or byte stream string generated after encoding and encapsulating the numerical speed limiter gripper speed according to the Modbus protocol instruction format.

[0099] The Modebs communication link refers to a logical communication channel established based on the Modebs protocol for transmitting instructions and data between the gripper controller and the gripper hardware.

[0100] A speed register is a physical storage unit within the gripper hardware used to store and reflect the current speed control parameters of the gripper.

[0101] The speed write completion indicator is a logical indication signal generated after the speed data frame is successfully sent to the speed register via the communication link, which indicates that the write operation has been completed.

[0102] The speed value is obtained by reading and parsing the current speed value from the speed register via the communication link after the speed write operation is completed.

[0103] The second verification result refers to the logical judgment conclusion that the speed value obtained by comparison with the speed of the limiting gripper is used to characterize whether the parameters in the speed register meet the preset constraints in the speed dimension.

[0104] A robotic gripper is an end effector installed at the end of a robotic arm to perform actions such as grasping, holding, or transporting objects.

[0105] For example, the gripper controller first inputs the raw gripper speed into a preset limiting function (e.g., limiting the speed to a safe range of 5mm / s to 100mm / s). If the input exceeds the limit, it automatically corrects to the range boundary value to generate a limited gripper speed. Next, the controller constructs the limited gripper speed into a speed setting value string containing the speed control function code and the speed register address according to the Modbus RTU protocol format, and writes it into the gripper's speed register through the Modbus communication link. After receiving the speed write completion indication, the controller immediately sends a read command to the speed register, reads the currently saved value from the register, and parses it to generate the acquired speed value. Finally, the controller compares the acquired speed value with the previously issued limited gripper speed. If the two values ​​are completely consistent, a second verification detection result indicating that the speed dimension verification has passed is generated.

[0106] In this embodiment of the invention, by introducing a limiting function to implement interval constraint processing before the speed parameters are issued, the problems of gripper collision and impact, workpiece damage caused by excessive speed setting, or operation timeout caused by insufficient speed are effectively prevented. At the same time, by combining the construction of the speed setting value string with the "write-readback-compare" closed-loop verification of the Modbus protocol, abnormal speed parameters caused by serial communication interference, byte misalignment, or register write failure can be identified in a timely manner. The combination of the two ensures that the parameters in the speed register have both physical rationality and data accuracy, significantly improving the stability, safety, and control reliability of the robotic arm gripper movement.

[0107] In an optional embodiment of the present invention, the step of generating a third verification and detection result based on the target position and the position register to express whether the robotic arm gripper meets the constraints in the position dimension includes: A preset amplitude limiting function is invoked to perform interval constraint processing on the target position, thereby generating an amplitude-limited target position; Construct a position setting value string containing the position of the limiting target; The location setting value string is written to the location register via the Modebass communication link, generating a location write completion indication; In response to generating the location write complete indication, the current value of the location register is read via the Modbus communication link to generate the acquired location value; By comparing the acquired position value with the limiting target position, when the acquired position value is consistent with the limiting target position, a third verification and detection result is generated to express that the robotic arm gripper meets the constraint conditions in the position dimension.

[0108] This embodiment aims to solve the problem that the gripper's travel range may exceed the physical limit of the gripper's travel range, or the mechanical structure may jam or the positioning may be deviated during the target position parameter distribution process due to exceeding the physical limit of the gripper's travel range or communication data distortion. By performing range-limiting constraints on the original target position before distribution and adopting a closed-loop verification mechanism of "position string construction to Modbus writing to readback of current position value to consistency comparison", it is ensured that the value actually written into the position register not only conforms to the physical safety travel range of the gripper, but also strictly matches the expected target position. This provides a reliable guarantee for the precise positioning and mechanical safety of the robotic arm gripper in the position dimension.

[0109] A limiting function is a pre-defined mathematical rule or software algorithm used to restrict input values ​​to a specified range of minimum and maximum safety thresholds.

[0110] The target position refers to the preset original parameter value used to control the gripper stroke or the position reached when opening / closing.

[0111] Interval constraint processing refers to the process of determining whether the input parameter exceeds the set interval through a limiting function, and if it does, forcibly correcting it to the interval boundary value for numerical normalization.

[0112] The limited target position refers to the position parameter value generated after the original target position has been processed by interval constraint, which conforms to the physical safety travel range of the hardware.

[0113] The position setting value string refers to the text or byte stream string generated after encoding and encapsulating the numerical amplitude limit target position according to the Modbus protocol instruction format.

[0114] The Modebs communication link refers to a logical communication channel established based on the Modebs protocol for transmitting instructions and data between the gripper controller and the gripper hardware.

[0115] A position register is a physical storage unit within the gripper hardware used to store and reflect the current position control parameters of the gripper.

[0116] The location write completion indication is a logical indication signal generated after the location data frame is successfully sent to the location register via the communication link, indicating that the write operation has been completed.

[0117] Obtaining the position value refers to the current position value that is actually read and parsed from the position register via the communication link after the position write operation is completed.

[0118] The third verification result refers to the logical judgment conclusion that the position value obtained by comparison with the position of the limiting target is used to characterize whether the parameters in the position register meet the preset constraints in the position dimension.

[0119] A robotic gripper is an end effector installed at the end of a robotic arm to perform actions such as grasping, holding, or transporting objects.

[0120] For example, the gripper controller first inputs the original target position into a preset limiting function (e.g., limiting the position to an effective travel range of 0mm to 85mm). If the input exceeds the physical limit, it is automatically truncated and corrected to the range boundary value to generate the limited target position. Next, the controller constructs the limited target position into a position setting value string containing the position control function code and the position register address according to the Modbus RTU protocol format, and writes it into the gripper's position register through the Modbus communication link. After receiving the position writing completion indication, the controller immediately sends a read command to the position register, reads the currently saved value from the register, and parses it to generate the obtained position value. Finally, the controller compares the obtained position value with the previously issued limited target position. If the two values ​​are completely consistent, a third verification detection result indicating that the position dimension verification has passed is generated.

[0121] In this embodiment of the invention, by introducing a limiting function to implement interval constraint processing before the position parameters are issued, mechanical cylinder collision, motor overload, and structural damage caused by the target position setting exceeding physical limits are effectively prevented. At the same time, by combining the position setting value string construction with the Modbus protocol's "write, read back, and compare" closed-loop verification, position command deviations caused by communication interference, byte loss, or register failure can be identified in a timely manner, preventing the gripper from empty gripping or crushing the workpiece due to position misalignment. The combination of these two aspects ensures that the parameters in the position register have both physical travel safety and logical data accuracy, significantly improving the accuracy and operational safety of the robotic arm gripper positioning control.

[0122] In an optional embodiment of the present invention, the register further includes a clamping status register. The step of determining the clamping result for the target object when the determination register verification detection result meets the preset conditions and the clamping flag determines that the robotic arm gripper needs to clamp the target object includes: In response to generating a third verification and detection result that expresses that the robotic arm gripper meets the constraint conditions in the position dimension, and when it is determined by the gripping flag that the robotic arm gripper needs to grip the target object, a preset gripping control function is called to send a query request to the gripping status register and obtain the initial gripping state based on the query request. When it is determined that the initial clamping state is in motion and the attempt count has not reached the maximum number of clamping attempts, the current clamping state of the clamping state register is queried cyclically according to the preset clamping waiting interval; When the loop query process ends and the current gripping state is still in motion, a gripping result is generated to indicate that the robotic arm gripper cannot continue to perform gripping operations on the target object. When it is determined that the current gripping state is not in motion, the final force state of the robotic arm gripper on the target object is obtained; When the final force state is a clamping and holding state, a clamping result is generated to characterize the success of the clamping operation. When the final force state is that the object falls, a clamping result is generated to characterize the failure of the clamping operation.

[0123] In this embodiment of the invention, gripping control is triggered after the position verification is passed and the gripping mark is present. A polling waiting mechanism including "timeout judgment" is introduced to dynamically track the gripping motion process. Combined with the refined analysis of the final force state (holding or falling) after the motion ends, the comprehensive gripping result of successful gripping, failure or inability to continue execution is accurately determined and output. This provides an accurate and reliable basis for the closed-loop state perception and subsequent control decision of the robotic arm gripper.

[0124] The third verification result refers to the consistency between the obtained position value and the position of the limiting target obtained by comparison. It is used to characterize the logical judgment conclusion that the parameters in the position register meet the preset constraints in the position dimension.

[0125] The gripping flag is a logical indication signal used to indicate whether the current task needs to perform a specific gripping action.

[0126] The target object refers to the physical object that the robotic arm gripper needs to hold or move in this task.

[0127] Clamping control functions refer to pre-written software program modules that encapsulate the logic for triggering clamping actions, querying status, and parsing action results.

[0128] The gripping status register refers to the physical storage unit inside the gripper hardware used to store and reflect the current operating status of the gripper (such as in motion, in position, force status, etc.) in real time.

[0129] A query request refers to a data frame instruction issued in accordance with communication protocol formats such as Modbus, used to obtain the current value of the clamping status register.

[0130] The initial clamping state refers to the clamping state read from the clamping state register for the first time after the clamping action is triggered.

[0131] The state in motion refers to the dynamic operating state used to characterize whether the gripper fingers are closing towards the target position or in the process of finding the gripping contact point.

[0132] The attempt count is a numerical variable used to record the cumulative number of times the clamp status register has been queried at a preset waiting interval.

[0133] The maximum number of clamping attempts refers to the pre-set maximum number of times the clamping status can be polled, which is used to prevent the program from entering an infinite loop deadlock.

[0134] The clamping wait interval refers to the pre-set software delay time between two consecutive queries of the clamping status register.

[0135] The loop query process refers to the software iterative process of repeatedly sending query requests and parsing the clamping status according to the clamping wait interval before the maximum number of clamping attempts is reached.

[0136] The clamping result refers to the classification and evaluation conclusion made based on the feedback of the gripper status register and the timeout determination, on the actual state achieved after the execution of this clamping action (such as success, failure, or timeout and inability to continue execution).

[0137] The final force state refers to the state index used to characterize the physical contact force between the gripper and the target object after the gripper stops moving or ends its motion, fed back by internal sensors or registers of the gripper.

[0138] The clamping and holding state refers to the force balance state that characterizes the gripper having successfully clamped the target object and the output torque being maintained within a preset stable range.

[0139] The object falling state refers to the abnormal force state used to characterize the situation where the gripper does not detect the expected physical resistance after closing or detects an object slipping out of the gripper.

[0140] A robotic gripper is an end effector installed at the end of a robotic arm to perform actions such as grasping, holding, or transporting objects.

[0141] For example, when the gripper controller confirms that the third verification detection result is passed and the gripping flag indicates that gripping is required, it calls the preset gripping control function to drive the gripper to close and sends a query request to the gripping status register to obtain the initial gripping state. If the initial gripping state is resolved to be in motion, the controller starts a counter. Before the number of attempts reaches the set maximum number of gripping attempts (e.g., 50 times), it sends a query request to the gripping status register every preset gripping waiting interval (e.g., 100ms). If the gripper still reports being in motion after the maximum number of queries, the controller determines that the action has timed out and generates a gripping result indicating that the gripping operation cannot continue. If the gripper is detected to have exited the motion state during the polling process, the controller then obtains its final force state. If the force state is a gripping holding state, a gripping success result is generated. If the force state is resolved to be an object falling state, a gripping failure result is generated.

[0142] This invention, by introducing a loop query mechanism with a maximum number of attempts limit, overcomes the risk of system freezes due to hardware obstruction or mechanical failure causing infinite waiting, significantly improving the robustness of the control flow. Simultaneously, by refining the clamping process into two stages—"motion process polling" and "final force state analysis"—it can accurately distinguish between various complex actual working conditions such as timeout anomalies, normal stable clamping (holding), and slippage / empty grip (object falling), avoiding misjudgments caused by relying solely on stroke or single-shot judgments in traditional solutions. This provides high-precision closed-loop feedback for the upper-level control system, offering a clear logical basis for subsequent adaptive parameter adjustments or fault handling.

[0143] In an optional embodiment of the present invention, the step of determining an adaptive adjustment strategy for the robotic arm gripper, and adjusting the parameter set based on the adaptive adjustment strategy and then controlling the robotic arm gripper to re-execute the gripping action includes: The clamping torque is increased by a preset increment, and the gripper speed is decreased by a preset decrement, thereby generating an updated clamping torque and an updated gripper speed. Based on the updated gripping torque and the updated gripper speed, the robotic arm gripper is controlled to perform a gripping operation on the target object again, and a gripping result for this round is generated. The gripping result for this round is used to execute the steps of increasing the gripping torque by a preset increment and decreasing the gripper speed by a preset decrement when the gripping operation for this round fails, thereby generating an updated gripping torque and an updated gripper speed.

[0144] This embodiment aims to solve the problem of robotic arm grippers blindly abandoning or repeating ineffective actions when the initial gripping fails (such as due to insufficient torque causing the object to slip or excessive speed causing impact and slippage). By establishing an adaptive parameter adjustment and retry loop mechanism of "increasing torque and decreasing speed", the gripping force is dynamically increased and the opening and closing speed is reduced after determining that the gripping has failed. A more robust physical control strategy is used to control the gripper to perform gripping again, thereby significantly improving the gripper's success rate and adaptability in grasping target objects with different materials, weights or surface friction characteristics.

[0145] Preset increment refers to a fixed value or percentage range that is pre-set to increase the clamping torque in a single retry cycle.

[0146] The gripping torque refers to the preset parameter value used to control the maximum gripping force output by the gripper motor.

[0147] Preset reduction refers to a fixed value or percentage range that is preset to decrease the gripper speed in a single retry cycle.

[0148] The gripper speed refers to the preset parameter value used to control the movement rate of the gripper fingers during the opening and closing motion.

[0149] The updated clamping torque refers to the torque control parameter generated by superimposing and amplifying the original or previous clamping torque according to a preset increment, which is used for retrying in the current round.

[0150] The updated gripper speed refers to the speed control parameter generated after the original or previous gripper speed is reduced and scaled down according to the preset amount, which is used for retrying in the current round.

[0151] A robotic gripper is an end effector installed at the end of a robotic arm to perform actions such as grasping, holding, or transporting objects.

[0152] The target object refers to the physical object that the robotic arm gripper needs to hold or move in this task.

[0153] The clamping result for this round refers to the logical judgment conclusion derived from the status feedback after the updated torque and speed control grippers perform the current round of clamping action, used to determine whether the clamping was successful or failed.

[0154] The adaptive adjustment strategy refers to the control algorithm rules that automatically increase the torque by a preset increment and decrease the speed by a preset decrement based on the reason for the previous clamping failure.

[0155] The process involves re-executing the gripping action by updating the gripping torque and the gripper speed, and then re-controlling the robotic arm gripper to perform the grasping action.

[0156] For example, when the controller determines that the previous gripping operation failed (e.g., the object fell or was not gripped stably), it automatically triggers a parameter adaptive retry process: First, the controller adds a preset increment (e.g., increasing the maximum torque by 10% each time) to the gripping torque of the previous round to generate an updated gripping torque, and subtracts a preset reduction (e.g., reducing the movement speed by 15% each time) from the gripper speed of the previous round to generate an updated gripper speed; then, the controller resends the updated torque and speed parameters to the corresponding register of the gripper, controls the robotic arm gripper to perform the gripping operation on the target object again with greater force and a smoother speed, and obtains the gripping result of this round; if the gripping result of this round is still determined to be a failure, the system will automatically repeat the above steps of "increasing torque by increment and reducing speed by reduction" until the gripping is successful or the system's preset maximum retry limit is reached.

[0157] In this embodiment of the invention, a closed-loop retry mechanism of "coordinated adjustment of increased torque and decreased speed" is introduced to achieve dynamic adaptive optimization of gripper control parameters based on gripping performance. Increasing torque can effectively compensate for gripping failures caused by insufficient friction or excessive object weight, while decreasing speed can significantly reduce the physical impact and rebound at the moment the gripper contacts the object, preventing the object from slipping due to violent collisions. The combination of the two forms a complementary control strategy, which greatly enhances the system's anti-interference ability and gripping robustness when facing unknown or changing working conditions (such as grease on the object surface, material changes, and weight fluctuations), significantly reduces the frequency of manual intervention, and improves the continuity and reliability of automated production line operations.

[0158] To enable those skilled in the art to better understand the embodiments of the present invention, an example is used below to illustrate the embodiments of the present invention.

[0159] A gripper control method based on torque adaptation is provided, and its overall architecture is as follows: Figure 2 As shown, Figure 2This is a block diagram of the overall architecture of a torque adaptive gripper control system provided in this embodiment of the invention; it includes six parts: an upper-level scheduling module, an actuator command processing module, a robotic arm interface module, a gripper controller, a Modbus communication link, and a robotic arm gripper. The functions and connections of each component are as follows: 1. System Overall Architecture The upper-level scheduling module (running on core_1, see the DoActionBody / RunOnce log in luban.log): parses the action script by process (e.g., "1_remove cup from the food pick-up port"), and sends gripper commands to the executor: gripper_pos_dh (perception type, returns gripping status) or gripper_pos_dh_n (motion type, executes only). The command parameters are JSON: {force, speed, pos, catch}, where catch=true indicates gripping the object (enables force status feedback and retry), and catch=false indicates moving only to the position; The executor command processing module (ActuatorArm, actuator_dobot.cpp) parses the JSON parameters and sequentially calls Griper_SetForce→Gripper_SetSpeed→Gripper_Clamp / Gripper_GoToLocation to send the clamping state back to the upper layer. The robotic arm interface module (ArmInterface, arm_interface.h / cpp) encapsulates gripper operations into five interfaces: init_gripper_dh / Gripper_SetForce / Gripper_SetSpeed ​​ / Gripper_GoToLocation / Gripper_Clamp, which are internally delegated to GripperController. Gripper Controller (dahuan_gripper.h / cpp): Communicates with the gripper via Modbus register protocol to achieve torque / speed / position setting, write-read-back verification, force status query, gripping retry, and initialization of the state machine; Modbus communication link: A ModbusTCP connection is established to the gripper via the Tool485 serial port (115200, N, 1) at the end of the robotic arm. The timeout is 60000ms, and the slave ID is returned during creation. Robotic arm gripper: Built-in force control unit, outputs torque, speed and position according to register instructions, and provides feedback on initialization status, gripping status and position feedback.

[0160] 2. Modbus Register Protocol Design This invention defines a register addressing protocol for gripper control (see the GriperController::RegisterAddr enumeration), the structure of which is as follows: Figure 6 As shown, Figure 6 This is a diagram illustrating a register addressing protocol structure provided in an embodiment of the present invention. SET command register (addressing formula 1 + (reg_id<<8)): INIT = 256 (0x0100): Initialization / Recalibration, writing 1 indicates recalibration, writing 165 indicates initialization only; FORCE = 257 (0x0101): Sets the clamping torque, ranging from 20 to 100; POSITION = 259 (0x0103): Sets the target position, ranging from 0 to 1000 (0 = fully closed, 1000 = fully open). SPEED = 260 (0x0104): Sets the gripper speed, ranging from 1 to 100; CONTROL = 261 (0x0105): Control register; INIT_DIRECT = 769 (0x0301): Configure the gripper initialization direction (closed / open); SAVE_DATA = 768 (0x0300): Write the parameters to Flash for persistence.

[0161] GET command register (addressing formula 2 + (reg_id<<8)): INIT_STATUS = 512 (0x0200): Read initialization status; CLAMP_STATUS = 513 (0x0201): Read clamping status (the core of force status feedback); POSITION_FEEDBACK = 514 (0x0202): Read position feedback.

[0162] Register values ​​are read and written in U16 type, {value} string format via setHoldRegs / getHoldRegs, and the response string is parsed into an array of error_code and status_code by ResStrParser.

[0163] 3. Torque adaptive parameter setting method (three-step method of writing-reading-verification) The torque adaptive control process of this invention is as follows: Figure 3 As shown, Figure 3 This is a flowchart of a torque adaptive parameter setting method provided in this embodiment of the invention; the parameter distribution adopts a three-step method of "write-readback-verification" to ensure that the gripper truly receives and applies the torque / velocity / position values. Taking `Gripper_SetForce(force)` as an example (the velocity and position setting methods are isomorphic): Step S101: Parameter limiting. Call clamp_value(force, FORCE_MIN=20, FORCE_MAX=100) to constrain the torque within a safe range, preventing it from being too large and damaging the target or too small and unable to be clamped; the speed is constrained to SPEED_MIN=1 ~ SPEED_MAX=100, and the position is constrained to POSITION_MIN=0 ~ POSITION_MAX=1000; Step S102: Initialization status pre-check. Call GetInitStatus() to query the gripper initialization status. If it is not initial_done, call Gripper_Init(false) to automatically re-initialize, ensuring the gripper is ready. Step S103: Write to register. Construct the value string createModbusValue(force) = "{force}", and call setHoldRegs(slave_id, FORCE, 1, valTab, "U16") to write it to the torque register; Step S104: Read back the register. Call getHoldRegs(slave_id, FORCE, 1, "U16") to read back the current value of the torque register; Step S105: Comparison and verification. The value force_get is read back by ResStrParser. If force_get == force, the internal record _force = force is updated and success is returned; if they are not equal, the error "Force verification failed: Set X, Read Y" is reported and failure is returned. Step S106: Failure Handling. When verification fails, the upper layer can retry or report the exception to avoid discrepancies between the actual gripper torque and the sent value due to communication interference.

[0164] This three-step method applies to all three parameters: torque, velocity, and position (the three functions, Griper_SetForce, Griper_SetSpeed, and Griper_SetPostion, have completely identical structures), forming a reliable basis for torque adaptive parameter distribution.

[0165] 4. Force state feedback mechanism refer to Figure 5 , Figure 5 This is a semantic diagram of the state transition and clamping state of a gripper initialization four-state machine provided in this embodiment of the invention; This invention utilizes the "gripping state" fed back by the force control unit built into the gripper as the basis for determining the force state, eliminating the need for an external force sensor. `Gripper_GetClampStatu()` reads the `CLAMP_STATUS` register and returns a five-state enumeration of `ClampStatu` (e.g., ...). Figure 5 (State semantics shown) moving = 0x00: The gripper is in motion (closing / opening, not yet in contact or not yet in position); getlocation = 0x01: Target position reached (the gripper has moved to the set pos position, but may not have gripped the object - it may be an empty grip). hold = 0x02: Clamping and holding (the gripper detects that the torque has reached the set value and the object is in place, and the object is stably clamped). drop = 0x03: The object has fallen (the gripper once held the object but the object has slipped, and the torque suddenly changes). fail = 0x04: Grip failure (gripper malfunction, such as motor overcurrent or jamming).

[0166] Hold and drop are key feedback mechanisms for torque adaptation: hold indicates that the current torque is sufficient to stabilize the clamp, drop indicates that the current torque is insufficient to clamp (the torque needs to be increased or the speed reduced and retried), and getlocation without hold indicates that the clamp may be empty (the alignment needs to be re-established or retried).

[0167] The perception-type command gripper_pos_dh (DoCmdSetGripperPosDH) returns the status value returned by Gripper_Clamp to the upper layer via val_item.SetInt(statu) (ReplyResult(msg, val_item, error_info)) after the gripping is completed, for the upper layer to decide whether to retry based on the status; the motion-type command gripper_pos_dh_n (DoCmdSetGripperPosDHN) does not return the status value, but only returns a success / failure flag, which is used for fast actions that do not require feedback.

[0168] 5. Gripping Retry Method The gripping retry of the present invention is implemented at two levels, as shown in Figure 4 the figure, Figure 4 which is a control flowchart of gripping retry provided in the embodiment of the present invention; (1) Inner layer retry of the gripper controller (`Gripper_Clamp`): Step S201: Call Gripper_SetPosition(position) to set the target position (including write-readback-verification); Step S202: Call Gripper_GetClampStatus() to obtain the initial gripping status statu; Step S203: Enter the polling loop — when statu == moving and try_count < MAX_CLAMP_ATTEMPTS (=5), re-query Gripper_GetClampStatus() every CLAMP_WAIT_INTERVAL_MS (=300ms), and increment try_count by 1; Step S204: After exiting the loop, make a judgment: if statu is still moving, set it to fail (gripping timeout, 5 attempts have been made), otherwise retain the actual status (hold / drop / getlocation / fail); Step S205: Return the gripping status enumeration value to the upper layer.

[0169] (2) Position arrival retry (`Gripper_GoToLocation`): When catch=false (only move to the position without gripping), call Gripper_GoToLocation(position): Step S206: Call Griper_SetPostion(position) to set the target position; Step S207: Enter position arrival polling - up to MAX_LOCATION_ATTEMPTS (=5) times, each time at interval INIT_WAIT_INTERVAL_MS (=500ms) call Gripper_GetLocation(position), read the POSITION_FEEDBACK register and compare it with the target position, if they are equal, return success; Step S208: If the position is not reached after 5 attempts, an error message "Position reached failed" will be displayed.

[0170] (III) Upper-level torque adaptive retry closed loop: refer to Figure 7 , Figure 7 This is a flowchart of an adaptive torque closed-loop control provided in an embodiment of the present invention; After receiving the status returned by the perception command, the upper-level scheduling module makes adaptive decisions based on the force state: If status == hold: the gripping was successful, continue with the subsequent steps; If statu == drop: the object falls, it is determined that the torque is insufficient. Increase force (e.g., +20, upper limit 100) and decrease speed (e.g., -20, lower limit 1) and reissue the gripper_pos_dh command to retry the gripping. If `statu == getlocation` but no location is found: there may be an empty location or misalignment. Fine-tune the position `pos` and try again. If status == fail: The gripper is faulty, the fault is reported and the process stops, triggering MotionExceptionHandle; If status == moving (timeout): Increase MAX_CLAMP_ATTEMPTS or check communication.

[0171] This forms a torque adaptive closed loop of "applying torque / speed → clamping → status feedback → parameter adjustment → retrying", ensuring that the target object is accurately clamped.

[0172] 6. Gripper initialization state machine This invention defines a gripper initialization four-state machine (InitStatu enumeration), such as... Figure 5 As shown, Figure 5 This is a semantic diagram of the state transition and clamping state of a gripper initialization four-state machine provided in this embodiment of the invention; inital_non = 0x00: Uninitialized (default upon power-on); initial_done = 0x01: Initialization complete (normal operation possible); initial_being = 0x02: Initialization in progress (calibrating, please wait); initial_fail = 0x03: Initialization failed (recalibration required).

[0173] Initialization process (initRobotCommunication): 1.setToolMode(1) Sets the robotic arm end effector to Tool mode; 2. `setTool485(115200, "N", 1)` configures the Tool485 serial port parameters; 3. Cycle through modbusClose (0~4) to clean up residual Modbus connections and avoid conflicts; 4. modbusCreate(arm_ip, 60000, 1, 1) establishes a Modbus connection and resolves the returned slave ID; 5. Write to the INIT register (recalibrate by writing 1, initialize by writing 165 only); 6. Poll GetInitStatu(), checking every INIT_WAIT_INTERVAL_MS (=500ms) until the status is not initial_being; 7. If the status is initial_done, the initialization is successful; otherwise, it fails.

[0174] Automatic re-initialization mechanism: GetInitStatu() is called before each execution of Griper_SetForce / SetSpeed / SetPostion / SaveData. If it is not initial_done, Griper_Init(false) is automatically called to re-initialize, ensuring that the gripper can self-heal after communication interruption or abnormal reset without manual intervention.

[0175] 7. Communication Fault Tolerance Design Residual connection cleanup: During initialization and deinitialization, modbusClose (0~4) is looped 5 times to clean up any remaining Modbus connections and prevent new connection creation failures. Slave ID fault tolerance: If the slave ID returned by modbusCreate fails to resolve, it will fall back to the default value of 1; otherwise, it will be set to -1. Response parsing fault tolerance: ResStrParser handles parsing exceptions silently, and GetInitStatu / Gripper_GetClampStatu returns initial_fail / fail when parsing fails, triggering upper-level retry or error reporting; Timeout and retry count: Modbus timeout 60000ms, clamp polling 5 times × 300ms, position polling 5 times × 500ms, balancing response speed and reliability.

[0176] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0177] Reference Figure 8 The diagram shows a structural block diagram of a robotic arm gripper control device provided in an embodiment of the present invention, which may specifically include the following modules: The parameter set generation module 801 is used to generate a parameter set after the robotic arm gripper completes the initialization operation; the parameter set includes gripping torque, gripper speed, target position and gripping mark; The register verification and detection result generation module 802 is used to perform write and read-back verification operations on the registers corresponding to the robotic arm gripper based on the gripping torque, the gripper speed and the target position, respectively, to generate register verification and detection results for the robotic arm gripper; The clamping result determination module 803 is used to determine the clamping result for the target object when the determination register verification detection result meets the preset conditions and the clamping flag determines that the robotic arm gripper needs to clamp the target object. The clamping control module 804 is re-executed to determine an adaptive adjustment strategy for the robotic arm gripper when the clamping result is determined to be a clamping result that characterizes the clamping operation for the target object as failed. Based on the adaptive adjustment strategy, the parameter set is adjusted and the robotic arm gripper is controlled to re-execute the clamping.

[0178] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0179] In addition, embodiments of the present invention also provide an electronic device, such as... Figure 9 As shown, it includes a processor 901, a communication interface 902, a memory 903, and a communication bus 904. The processor 901, communication interface 902, and memory 903 communicate with each other via the communication bus 904. Memory 903 is used to store computer programs; When the processor 901 executes the program stored in the memory 903, it implements the robotic arm gripper control method described in any of the above embodiments: The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0180] The communication interface is used for communication between the aforementioned terminal and other devices.

[0181] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0182] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0183] like Figure 10As shown, in another embodiment of the present invention, a computer-readable storage medium 1001 is also provided, which stores instructions that, when executed on a computer, cause the computer to perform the robotic arm gripper control method described in the above embodiment.

[0184] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described robotic arm gripper control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0185] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0186] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0187] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0188] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for controlling a robotic arm gripper, characterized in that, The robotic arm gripper is equipped with a corresponding gripper controller, and the method is applied to the gripper controller, including: After the robotic arm gripper completes the initialization operation, a parameter set is generated; the parameter set includes gripping torque, gripper speed, target position, and gripping marker. Based on the gripping torque, the gripper speed, and the target position, write and read-back verification operations are performed on the registers corresponding to the robotic arm gripper to generate register verification and detection results for the robotic arm gripper. When the result of the determination register verification test meets the preset conditions, and the gripping flag determines that the robotic arm gripper needs to grip the target object, the gripping result for the target object is determined. When the clamping result is determined to be a clamping result that characterizes the clamping operation for the target object as a failure, an adaptive adjustment strategy for the robotic arm gripper is determined, and the parameter set is adjusted based on the adaptive adjustment strategy before the robotic arm gripper is controlled to re-execute the clamping.

2. The method according to claim 1, characterized in that, Prior to the step of generating the parameter set, the following is also included: Configure the end serial port parameters of the robotic arm gripper, establish a Modebus communication link based on the Modebus protocol, and obtain the slave station identifier through the Modebus communication link; Based on the slave station identifier, the initialization status query interface is called to send a read command to the initialization status register of the robotic arm gripper, and the read data is parsed to generate the initial status enumeration value; When the gripper of the robotic arm is determined to be in a non-initialization completed state based on the initial state enumeration value, initialization trigger parameters are written to the initialization register of the robotic arm gripper, and a system ready signal is generated after confirming that the gripper is updated to the initialization completed state.

3. The method according to claim 2, characterized in that, The registers include a torque register, a speed register, and a position register. The step of performing write and read-back verification operations on the registers corresponding to the robotic arm gripper based on the gripping torque, the gripper speed, and the target position to generate register verification and detection results for the robotic arm gripper includes: Based on the gripping torque and the torque register, a first verification and detection result is generated to express whether the robotic arm gripper meets the constraint conditions in the torque dimension; When it is determined based on the first verification and detection result that the robotic arm gripper meets the constraint conditions in the torque dimension, a second verification and detection result is generated based on the gripper speed and the speed register to express whether the robotic arm gripper meets the constraint conditions in the speed dimension. When it is determined that the robotic arm gripper meets the constraint conditions in the speed dimension based on the second verification detection result, a third verification detection result is generated based on the target position and the position register to express whether the robotic arm gripper meets the constraint conditions in the position dimension. The first verification detection result, the second verification detection result, and the third verification detection result are determined as the register verification detection result.

4. The method according to claim 3, characterized in that, The step of generating a first verification and detection result based on the gripping torque and the torque register to express whether the robotic arm gripper meets the constraint conditions in the torque dimension includes: A preset limiting function is invoked to perform interval constraint processing on the clamping torque, thereby generating a limiting clamping torque; Construct a setting value string containing the amplitude limiting clamping torque; The setting value string is written to the torque register via the Modbus communication link, generating a write completion indication; In response to generating the write completion indication, the current value of the torque register is read via the Modbus communication link, and the acquired torque value is generated based on the current value of the torque register; By comparing the acquired torque value with the limiting clamping torque, when the acquired torque value is consistent with the limiting clamping torque, a first verification and detection result is generated to express that the robotic arm gripper meets the constraint conditions in the torque dimension.

5. The method according to claim 3, characterized in that, The step of generating a second verification and detection result based on the gripper speed and the speed register to express whether the robotic arm gripper meets the constraint conditions in the speed dimension includes: A preset limiting function is invoked to perform interval constraint processing on the gripper speed, thereby generating a limited gripper speed; Construct a speed setting value string containing the speed of the limiting gripper; The speed setting value string is written to the speed register via the Modebass communication link, generating a speed write completion indication; In response to the generation of the speed write complete indication, the current value of the speed register is read via the Modbus communication link to generate the acquired speed value; By comparing the acquired speed value with the speed of the limiting gripper, when the acquired speed value is consistent with the speed of the limiting gripper, a second verification and detection result is generated to express that the robotic arm gripper meets the constraint conditions in the speed dimension.

6. The method according to claim 3, characterized in that, The step of generating a third verification and detection result based on the target position and the position register to express whether the robotic arm gripper meets the constraints in the position dimension includes: A preset amplitude limiting function is invoked to perform interval constraint processing on the target position, thereby generating an amplitude-limited target position; Construct a position setting value string containing the position of the limiting target; The location setting value string is written to the location register via the Modebass communication link, generating a location write completion indication; In response to generating the location write complete indication, the current value of the location register is read via the Modbus communication link to generate the acquired location value; By comparing the acquired position value with the limiting target position, when the acquired position value is consistent with the limiting target position, a third verification and detection result is generated to express that the robotic arm gripper meets the constraint conditions in the position dimension.

7. The method according to claim 3, characterized in that, The register also includes a clamping status register. The step of determining the clamping result for the target object when the determination register verification detection result meets the preset conditions and the clamping flag determines that the robotic arm gripper needs to clamp the target object includes: In response to generating a third verification and detection result that expresses that the robotic arm gripper meets the constraint conditions in the position dimension, and when it is determined by the gripping flag that the robotic arm gripper needs to grip the target object, a preset gripping control function is called to send a query request to the gripping status register and obtain the initial gripping state based on the query request. When it is determined that the initial clamping state is in motion and the attempt count has not reached the maximum number of clamping attempts, the current clamping state of the clamping state register is queried cyclically according to the preset clamping waiting interval; When the loop query process ends and the current gripping state is still in motion, a gripping result is generated to indicate that the robotic arm gripper cannot continue to perform gripping operations on the target object. When it is determined that the current gripping state is not in motion, the final force state of the robotic arm gripper on the target object is obtained; When the final force state is a clamping and holding state, a clamping result is generated to characterize the success of the clamping operation. When the final force state is that the object falls, a clamping result is generated to characterize the failure of the clamping operation.

8. The method according to claim 7, characterized in that, The steps of determining an adaptive adjustment strategy for the robotic arm gripper, adjusting the parameter set based on the adaptive adjustment strategy, and then controlling the robotic arm gripper to re-execute the gripping action include: The clamping torque is increased by a preset increment, and the gripper speed is decreased by a preset decrement, thereby generating an updated clamping torque and an updated gripper speed. Based on the updated gripping torque and the updated gripper speed, the robotic arm gripper is controlled to perform a gripping operation on the target object again, and a gripping result for this round is generated. The gripping result for this round is used to execute the steps of increasing the gripping torque by a preset increment and decreasing the gripper speed by a preset decrement when the gripping operation for this round fails, thereby generating an updated gripping torque and an updated gripper speed.

9. A robotic arm gripper control device, characterized in that, The robotic arm gripper is equipped with a corresponding gripper controller, and the device applied to the gripper controller includes: The parameter set generation module is used to generate a parameter set after the robotic arm gripper completes the initialization operation; the parameter set includes gripping torque, gripper speed, target position, and gripping mark; The register verification and detection result generation module is used to perform write and read-back verification operations on the registers corresponding to the robotic arm gripper based on the gripping torque, the gripper speed, and the target position, respectively, to generate register verification and detection results for the robotic arm gripper. The clamping result determination module is used to determine the clamping result for the target object when the determination register verification detection result meets the preset conditions and the clamping flag determines that the robotic arm gripper needs to clamp the target object. The clamping control module is re-executed to determine an adaptive adjustment strategy for the robotic arm gripper when the clamping result is determined to be a clamping result that characterizes the clamping operation for the target object as failed. Based on the adaptive adjustment strategy, the parameter set is adjusted and the robotic arm gripper is controlled to re-execute the clamping.

10. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the method as described in claims 1-8.

11. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the method as described in claims 1-8.

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