Electric Gripper Adaptive Control via Stall Guard Feedback
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Solution Overview
Problem
Existing electric gripper control methods fail to account for practical factors like operating temperature and oscillations, leading to abnormal functioning or failure when attempting to perform actions at specific speed values.
Innovation Solution
An adaptive control method that stores multiple speed setting values, samples feedback voltage signals during steady-state operations to calculate Stall Guard Values, and determines a Stall Guard Threshold for subsequent control, allowing the gripper to adjust and maintain accurate performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the control module drives the gripping module to perform actions at a fixed target speed value, then the control process is simple, but the electric gripper functions abnormally or fails when influenced by operating temperature, platform oscillations, or inaccurate dimension estimation
Solution Approach 1:
The patent implements feedback control by sampling the feedback voltage signal during steady-state operation to obtain Stall Guard Values (SGVs). The control module compares the actual feedback voltage with the target voltage and adjusts the driving signal accordingly to maintain the target speed, thereby improving reliability under varying operating conditions such as temperature changes and platform oscillations.
Solution Approach 2:
The control module pre-calculates and stores Stall Guard Thresholds (SGTs) for different speed settings before actual operation. This preliminary action allows the system to quickly adapt to changing conditions without complex real-time calculations, balancing reliability improvement with control simplicity.
2Measurement precision
If multiple speed setting values are tested and feedback sampling is performed to calculate Stall Guard Thresholds, then the control accuracy is improved, but the setup time and computational load increase
Solution Approach 1:
The control module performs speed calibration by testing multiple speed setting values and calculating Stall Guard Thresholds during the setup phase. These pre-calculated SGTs are stored for rapid retrieval during operation, achieving high measurement precision without time loss during actual gripping tasks.
Solution Approach 2:
The system dynamically adjusts the number of speed settings tested based on operational requirements. For critical applications requiring high precision, more speed values are tested, while for routine operations, fewer speed values are sufficient, thereby optimizing the balance between precision and time investment.
Data Source
AI summary
An adaptive control method includes steps of: storing N number of different speed setting values; assigning an i-th one of the speed setting values to serve as a target speed value; sampling, when the gripping module is performing a first action in a steady state period, a feedback voltage signal resulting from the gripping module to obtain Stall Guard Values (SGVs); averaging the SGVs to obtain an average SGV; and calculating, based on the average SGV and a predetermined SGV deviation, a Stall Guard Threshold (SGT) for subsequent control of the electric gripper.