Patent ID: 8983786
Filing Date: 2015-03-17
Classification: B25J,G05B

Abstract:
1. A method for referencing a drive position of an electric drive of at least one gripper half of a production gripper in a closed position of two gripper halves, comprising: closing of the two open gripper halves by electric-motor operation of the drive; determining multiple actual positions of the at least one electric drive and of tracking error values of the electric drive in a time interval during the closing of the gripper halves until beyond a point in time in which the closed position is reached; determining a straight line, in particular by means of adjustment computation on the basis of the ascertained tracking error values, depending on a related time-tracking-error function, starting from tracking error values at the end of the time interval; determining the instant of the zero crossing of the ascertained straight line of the time-tracking-error function; and determining the actual position of the at least one electric drive as the closed position, that corresponds to the instant of the zero crossing of the straight line of the time-tracking-error-function.