Gripper control device using a force sensor and method thereof

Gripper Control Device Using Force Sensors

This technology measures reaction forces in real-time using force sensors placed at two different points on the gripper jaw. By applying these measurements to kinematic equations, it calculates the actual contact force with the target object and combines this with position control data to manage the gripper's gripping state and estimate the position of the grip point.

While industrial grippers offer high repeatability, they struggle to provide precise contact force information regarding the object being gripped. This creates technical limitations in ensuring safety when handling heavy objects or accurately identifying the physical properties of the target.

This technology is a gripper control system that includes a calculation unit and a control unit. It implements an algorithm to calculate real-time contact force by measuring reaction forces at two points on the jaw, constructs a control loop by comparing the actuator's real-time position and calculated contact force against target values, and estimates grip point locations and object properties after the grip is secured. Applicable to logistics picking, service robots, and manufacturing automation, it improves repeatability, contact force management, and material discrimination capabilities without relying on vision cameras or visual estimation.

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Key Features:

• Controlling the gripper to complete the gripping of a target object using the actuator's real-time position and calculated contact force compared against target position and target contact force values.
• Measuring the reaction force generated at predetermined points on the gripper jaw and the position of the actuator in real-time as the gripper engages the target object.
• Receiving the target position value for the gripper actuator and the target contact force between the gripper and the target object from a user terminal.
• Calculating the contact force between the gripper and the target object in real-time using the measured reaction forces.

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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.