Gripper control device and method thereof

Gripper Control Device

This technology is a gripper control algorithm that calculates contact and gripping forces through physical modeling—accounting for gravitational acceleration, geometric angles between components, and friction coefficients—based on the 3D spatial orientation of a gripper holding a cylindrical object, thereby deriving the optimal driving force.

Although the force required to grip an object varies depending on its spatial orientation, conventional technologies have suffered from reduced operational efficiency because they either provide gripping force for only specific orientations or lack the capability for intelligent gripping force control across all spatial orientations.

This technology precisely controls gripper output by calculating the first and second contact forces between each component and the object, considering the gripper's pitch and roll, and computing real-time gripping and driving forces using formulas that incorporate the object's mass and geometric shape. Applicable to logistics picking, service robots, and manufacturing automation, it improves the efficiency and accuracy of gripper operation control by precisely calculating clamping and driving forces.

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Key Features:

• Calculating the first contact force between the first through fourth components and the cylindrical object held by the gripper when the gripper rotates in the pitch direction
• Calculating the second contact force between the first through fourth components and the cylindrical object held by the gripper when the gripper rotates in the roll direction
• First and second components that are formed at a constant angle relative to the ground and are symmetrical to each other
• A fourth component that is symmetrical to the third component and formed above the second component

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of end-effector technology for rescue robots.