A nonlinear model and force control of a robotic claw
Autor(a) principal: | |
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Data de Publicação: | 2014 |
Outros Autores: | , , , , |
Tipo de documento: | Artigo de conferência |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UNESP |
Texto Completo: | http://dx.doi.org/10.1063/1.4904673 http://hdl.handle.net/11449/184748 |
Resumo: | The 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. |
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Repositório Institucional da UNESP |
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A nonlinear model and force control of a robotic clawcontact dynamicsforce controlrobotic manipulatorconstrained modelsThe 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.Fed Univ ABC UFABC, Ctr Engn Modeling & Appl Social Sci CECS, Postgrad Course Mech Engn PosMEC, Av Estados 5001,SP09210-580,Block A,7th Floor, Sao Paulo, BrazilUniv Estadual Paulista, Inst Geociencias & Ciencias Exatas Rio Claro, Dept Esta Matemat Aplicada & Comp, BR-13506700 Rio Claro, SP, BrazilUniv Estadual Paulista, Inst Geociencias & Ciencias Exatas Rio Claro, Dept Esta Matemat Aplicada & Comp, BR-13506700 Rio Claro, SP, BrazilAmer Inst PhysicsUniversidade Federal do ABC (UFABC)Universidade Estadual Paulista (Unesp)Anjos da Silva, Thiago Abraao dosMendoza Meza, Magno EnriqueFenili, AndreBalthazar, Jose Manoel [UNESP]Rebello da Fonseca Brasil, Reyolando Manoel LopesSivasundaram, S.2019-10-04T12:29:43Z2019-10-04T12:29:43Z2014-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObject988-997http://dx.doi.org/10.1063/1.490467310th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (icnpaa 2014). Melville: Amer Inst Physics, v. 1637, p. 988-997, 2014.0094-243Xhttp://hdl.handle.net/11449/18474810.1063/1.4904673WOS:000347812200116Web of Sciencereponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPeng10th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (icnpaa 2014)info:eu-repo/semantics/openAccess2021-10-22T21:54:11Zoai:repositorio.unesp.br:11449/184748Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T16:50:30.175046Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false |
dc.title.none.fl_str_mv |
A nonlinear model and force control of a robotic claw |
title |
A nonlinear model and force control of a robotic claw |
spellingShingle |
A nonlinear model and force control of a robotic claw Anjos da Silva, Thiago Abraao dos contact dynamics force control robotic manipulator constrained models |
title_short |
A nonlinear model and force control of a robotic claw |
title_full |
A nonlinear model and force control of a robotic claw |
title_fullStr |
A nonlinear model and force control of a robotic claw |
title_full_unstemmed |
A nonlinear model and force control of a robotic claw |
title_sort |
A nonlinear model and force control of a robotic claw |
author |
Anjos da Silva, Thiago Abraao dos |
author_facet |
Anjos da Silva, Thiago Abraao dos Mendoza Meza, Magno Enrique Fenili, Andre Balthazar, Jose Manoel [UNESP] Rebello da Fonseca Brasil, Reyolando Manoel Lopes Sivasundaram, S. |
author_role |
author |
author2 |
Mendoza Meza, Magno Enrique Fenili, Andre Balthazar, Jose Manoel [UNESP] Rebello da Fonseca Brasil, Reyolando Manoel Lopes Sivasundaram, S. |
author2_role |
author author author author author |
dc.contributor.none.fl_str_mv |
Universidade Federal do ABC (UFABC) Universidade Estadual Paulista (Unesp) |
dc.contributor.author.fl_str_mv |
Anjos da Silva, Thiago Abraao dos Mendoza Meza, Magno Enrique Fenili, Andre Balthazar, Jose Manoel [UNESP] Rebello da Fonseca Brasil, Reyolando Manoel Lopes Sivasundaram, S. |
dc.subject.por.fl_str_mv |
contact dynamics force control robotic manipulator constrained models |
topic |
contact dynamics force control robotic manipulator constrained models |
description |
The 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. |
publishDate |
2014 |
dc.date.none.fl_str_mv |
2014-01-01 2019-10-04T12:29:43Z 2019-10-04T12:29:43Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/conferenceObject |
format |
conferenceObject |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://dx.doi.org/10.1063/1.4904673 10th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (icnpaa 2014). Melville: Amer Inst Physics, v. 1637, p. 988-997, 2014. 0094-243X http://hdl.handle.net/11449/184748 10.1063/1.4904673 WOS:000347812200116 |
url |
http://dx.doi.org/10.1063/1.4904673 http://hdl.handle.net/11449/184748 |
identifier_str_mv |
10th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (icnpaa 2014). Melville: Amer Inst Physics, v. 1637, p. 988-997, 2014. 0094-243X 10.1063/1.4904673 WOS:000347812200116 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
10th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (icnpaa 2014) |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
988-997 |
dc.publisher.none.fl_str_mv |
Amer Inst Physics |
publisher.none.fl_str_mv |
Amer Inst Physics |
dc.source.none.fl_str_mv |
Web of Science reponame:Repositório Institucional da UNESP instname:Universidade Estadual Paulista (UNESP) instacron:UNESP |
instname_str |
Universidade Estadual Paulista (UNESP) |
instacron_str |
UNESP |
institution |
UNESP |
reponame_str |
Repositório Institucional da UNESP |
collection |
Repositório Institucional da UNESP |
repository.name.fl_str_mv |
Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP) |
repository.mail.fl_str_mv |
|
_version_ |
1808128708852056064 |