Mathematical modeling of industrial robots based on Hamiltonian mechanics
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F16%3A00000934" target="_blank" >RIV/46747885:24220/16:00000934 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/CarpathianCC.2016.7501208" target="_blank" >http://dx.doi.org/10.1109/CarpathianCC.2016.7501208</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/CarpathianCC.2016.7501208" target="_blank" >10.1109/CarpathianCC.2016.7501208</a>
Alternative languages
Result language
angličtina
Original language name
Mathematical modeling of industrial robots based on Hamiltonian mechanics
Original language description
The paper deals with an advanced mathematical modeling and model-based control design for an optimal robot motion and monitoring for safe and efficient operation. The explanation aims at acceptable straightforward methods for the composition of suitable mathematical models of robot kinematics and dynamics intended for model-based control design. In the paper, as a promising progressive control design approach, a model-based generalized predictive control is considered and explained. The design and monitoring of recommended reference signals for safe and efficient process control are investigated. The approaches are demonstrated on six-axis multipurpose robot ABB IRB 140. This robot belongs to the considered class of industrial articulated robots-manipulators. For the modeling of the control methods there will be used classical Lagrangian and Hamiltonian formalisms.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 2016 17th International Carpathian Control Conference, ICCC 2016
ISBN
978-1-4673-8606-7
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
813-818
Publisher name
Technical University of Košice
Place of publication
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Event location
Tatranská Lomnica
Event date
Jan 1, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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