Robot Control in Terms of Hamiltonian Mechanics

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F16%3A00459349" target="_blank" >RIV/67985556:_____/16:00459349 - isvavai.cz</a>

Alternative codes found

RIV/46747885:24220/16:00000278

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Robot Control in Terms of Hamiltonian Mechanics

Original language description

The paper deals with a mathematical modeling of robot motion and control. Instead of frequently used Lagrangian formulation of robot dynamics, this paper presents robot dynamics by Hamiltonian formulation. This formulation leads to different physical descriptive quantities considered for control design. In the paper, as a comparative control approach, PD control with gravity compensation is considered. The control approach considering Hamiltonian formulation is demonstrated for simplicity on two-mass robot-arm system. However, the explained modeling approach is general and it can be applied, e.g., to usual industrial articulated robots-manipulators with multiple degrees of freedom.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

BC - Theory and management systems

OECD FORD branch

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Project

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Continuities

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year

2016

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

ENGINEERING MECHANICS 2016

ISBN

978-80-87012-59-8

ISSN

1805-8248

e-ISSN

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Number of pages

4

Pages from-to

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Publisher name

Ústav termomechaniky AV ČR, v. v. i.

Place of publication

Praha

Event location

Svratka

Event date

May 9, 2016

Type of event by nationality

EUR - Evropská akce

UT code for WoS article

000379986700145