公开(公告)号：US10744652B2

公开(公告)日：2020-08-18

申请号：US15985765

申请日：2018-05-22

Applicant: Hiwin Technologies Corp.

Inventor： Jonus Liu ,  Chia-Yu Hu

IPC: G06F17/00 ,  B25J15/02 ,  G05B13/04 ,  G05B6/02

Abstract: 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.

公开(公告)号：US20190358829A1

公开(公告)日：2019-11-28

申请号：US15985765

申请日：2018-05-22

Applicant: Hiwin Technologies Corp.

Inventor： Jonus Liu ,  Chia-Yu Hu

IPC: B25J15/02 ,  G05B6/02 ,  G05B13/04

Abstract: 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.