S22  Mecatrônica    Titulo: MODELAGEM E CONTROLE DE FORÇA E POSIÇÃO DE UMA GARRA DE ROBÔ COM TRÊS DEDOS   Resumo : THIS PAPER PRESENTS THE MODELING AND CONTROL OF AN THREE-FINGERED GRIPPER, WITH THE AIM OF SIMULTANEOUSLY CONTROLLING THE POSITION OF GRASPED OBJECT AND THE CONTACT FORCES BETWEEN THE OBJECT AND THE FINGERS, AS WELL AS CONTROLLING THE CONTACT FORCES BETWEEN THE OBJECTS AND A FIXED BASE IN THE ASSEMBLY PROCESS. IN OUR PLANAR MODEL, FOR REPRESENTING THE CONTACT BETWEEN THE THREE FINGERS AND THE OBJECT, IT IS ASSUMED THAT EVERY DEFORMATION OCCURS IN THE FINGER TIPS. OTHER MODEL KINEMATICS CHARACTERISTICS IS THE PRESENCE OF CLOSED KINEMATIC LOOP. FOR MODELING THIS TYPE OF SYSTEM, THE MECHANISM IS INTERPRETED AS A KINEMATIC TRANSFORMER SET CONNECTED THEMSELVES BY THE RELATIONSHIP OF INDEPENDENT COORDINATES. THEREFORE, EACH CLOSED KINEMATIC LOOP IS REPRESENTED BY A TRANSFORMER, WHOSE INPUTS ARE THE INDEPENDENT COORDINATES IN EQUAL NUMBER OF DEGREES OF FREEDOM OF LOOP; AND THE OUTPUTS ARE THE FURTHER SYSTEM COORDINATES. IN OUR CASE, WE DEMONSTRATE THAT THREE KINEMATIC TRANSFORMERS CAN REPRESENT THIS SYSTEM WITH ADVANTAGES. SIMULATION TESTS SHOW THE INTERFERENCE OF ONE FINGER BEHAVIOR OVER THE OTHERS. KEYWORDS: ROBOTICS, GRIPPERS, MULTIBODY SYSTEMS, FORCE CONTROL.     Autores : Caurin, Glauco Augusto Schammass, Alexandre Valente, Carlos Magno     Trabalho Completo :   COBEM99 | Comissão  Organizadora | Palestras | Sessões Técnicas | Autor | Simpósios e Sessões Especiais | Revisores |  Título  dos  Trabalhos | Local