Precision Motor Control Algorithm Using Force Feedback
Original Publication Date: 1985-Aug-01
Included in the Prior Art Database: 2005-Feb-19
Conventional motor control algorithms typically rely upon motor position feedback in order to control both the position and velocity of the motor. This type of control scheme in a parallel jaw gripper would drive the jaws to a predetermined distance apart and then stop. A motor control mechanism that incorporates both position and force feedback to monitor the force exerted on a robotically handled part in order to drive a parallel jaw gripper is described in the following. This control algorithm is based upon closing the feedback loop on both position and force. In addition, it requires the presence of force sensors in each jaw. Upon first powering up the end effector, the output from the force sensors would be monitored and the motor would be commanded to rotate slowly, such that the jaws would slowly move together.