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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

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    20204 - Robotics and automatic control

Result continuities

  • Project

  • 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

  • e-ISSN

  • 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