Application of Hamiltonian mechanics to control design for industrial robotic manipulators
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F17%3A00004495" target="_blank" >RIV/46747885:24220/17:00004495 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/MMAR.2017.8046859" target="_blank" >http://dx.doi.org/10.1109/MMAR.2017.8046859</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/MMAR.2017.8046859" target="_blank" >10.1109/MMAR.2017.8046859</a>
Alternative languages
Result language
angličtina
Original language name
Application of Hamiltonian mechanics to control design for industrial robotic manipulators
Original language description
The paper deals with a tracking control for robotic manipulators, where the robot dynamics is described by means of Hamiltonian mechanics. This way leads to different physical descriptive quantities used in control design. In the paper, the model-oriented Lyapunov-based control is considered. It is introduced in the novel formulation using Hamiltonian mechanics and compared with the conventional formulation based on Lagrangian mechanics. The theoretical results, generally applicable to usual articulated industrial robotic manipulators, are demonstrated on one specific robot arm with three degrees of freedom.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2017 22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017
ISBN
978-153862402-9
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
390-395
Publisher name
Institute of Electrical and Electronics
Place of publication
Miedzyzdroje; Poland
Event location
Miedzyzdroje, Polská republika
Event date
Jan 1, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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