A nonlinear model and force control of a robotic claw

dc.contributorUniversidade Federal do ABC (UFABC)
dc.contributorUniversidade Estadual Paulista (Unesp)
dc.date.accessioned2019-10-04T12:29:43Z
dc.date.accessioned2022-12-19T17:58:43Z
dc.date.available2019-10-04T12:29:43Z
dc.date.available2022-12-19T17:58:43Z
dc.date.created2019-10-04T12:29:43Z
dc.date.issued2014-01-01
dc.identifier10th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (icnpaa 2014). Melville: Amer Inst Physics, v. 1637, p. 988-997, 2014.
dc.identifier0094-243X
dc.identifierhttp://hdl.handle.net/11449/184748
dc.identifier10.1063/1.4904673
dc.identifierWOS:000347812200116
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/5365801
dc.description.abstractThe objective of this work is to obtain and analyze a simple representative mathematical model for a robotic claw. The claw is represented here through the interaction between two simple pendulums and a sub-system composed of two masses connected by a spring and a damper. The main approach is based on obtaining the constrained mathematical model that represents the configuration of the system including impact and contact dynamics. The governing equations of motion are obtained using the Euler-Lagrange formalism. The numerical integration of the governing equations is realized using the fourth order Runge-Kutta. The explicit force control technique is used in order to maintain the contact force constant during the contact.
dc.languageeng
dc.publisherAmer Inst Physics
dc.relation10th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (icnpaa 2014)
dc.rightsAcesso aberto
dc.sourceWeb of Science
dc.subjectcontact dynamics
dc.subjectforce control
dc.subjectrobotic manipulator
dc.subjectconstrained models
dc.titleA nonlinear model and force control of a robotic claw
dc.typeActas de congresos


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