A nonlinear model and force control of a robotic claw

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.