Gripper Control Device for Stability Optimization
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Solution Overview
Problem
Existing gripper control methods fail to efficiently manage grasp stability and posture changes of objects with multiple fingers, particularly in scenarios where the number of contact points is reduced, leading to instability and potential dropping of objects during manipulation.
Innovation Solution
A gripper control device and method that evaluates grasp quality contribution degrees at multiple contact positions, determines fingers with low contribution as 'fingers-to-be-moved', and adjusts their position to improve stability, using relative locations and friction coefficients between the object and fingers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple fingers are used to grasp the object, then the grasp stability is improved, but the device complexity increases due to the need to control multiple fingers and manage contact points
Solution Approach 1:
The system automatically evaluates grasp quality contribution degrees for each contact position and autonomously determines which fingers to move, eliminating the need for complex external control intervention. The gripper self-regulates its grasp configuration based on real-time stability assessment
Solution Approach 2:
The system dynamically changes the configuration parameters of the gripper by adjusting which fingers are in contact with the object based on evaluated contribution degrees. This allows the system to adapt the grasp configuration to maintain stability while simplifying control
2Ease of operation
If the number of contact points is reduced, then the ease of operation is improved, but the grasp stability deteriorates leading to potential object dropping
Solution Approach 1:
The system uses only the necessary number of contact points required for stable grasping rather than maintaining all possible finger contacts. By evaluating contribution degrees, it identifies the minimum sufficient set of contact points needed, reducing unnecessary constraints while maintaining stability
Solution Approach 2:
The system dynamically adjusts the number and positions of contact points based on real-time grasp quality evaluation. This allows the gripper to transition between different contact configurations, maintaining stability adaptability while improving ease of operation
3Reliability
If fingers are repositioned to improve grasp stability, then the grasp quality is improved, but the time required for manipulation increases
Solution Approach 1:
The system pre-evaluates the grasp quality contribution degree for each potential contact position before actual grasping occurs. This preliminary assessment allows for optimal finger positioning decisions to be made in advance, reducing the time needed for adjustments during manipulation
Solution Approach 2:
The system continuously monitors grasp stability and provides real-time feedback on contribution degrees, enabling rapid determination of which fingers need repositioning. This feedback mechanism allows for efficient, targeted adjustments rather than systematic repositioning of all fingers
Data Source
AI summary
A gripper control device includes a controller, the controller is configured to conduct: a grasp quality evaluation process to obtain a grasp quality contribution degree for each of a plurality of contact positions at which fingers that support the object are in contact with the object; a finger-to-be-moved determination process configured to determine, as a finger-to-be-moved, the finger corresponding to one of the contact positions at which the grasp quality contribution degree is low; and a finger movement control process configured to send a control command to a finger driving apparatus, wherein the grasp quality contribution degree for each of the multiple contact positions is defined using at least one of the following elements: relative positions of the plurality of contact positions related to the object; and friction coefficients between the object and the fingers at the plurality of contact positions.