Anjos da Silva, Thiago Abraao dosMendoza Meza, Magno EnriqueFenili, AndreBalthazar, Jose Manoel [UNESP]Rebello da Fonseca Brasil, Reyolando Manoel LopesSivasundaram, S.2019-10-042019-10-042014-01-0110th 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/11449/184748The 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.988-997engcontact dynamicsforce controlrobotic manipulatorconstrained modelsTrabalho apresentado em evento10.1063/1.4904673WOS:000347812200116Acesso aberto