Mathematical Modeling of lndustrial 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%2F67985556%3A_____%2F16%3A00459855" target="_blank" >RIV/67985556:_____/16:00459855 - 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 lndustrial Robots Based on Hamiltonian Mechanics
Original language description
The paper deals with an advanced mathematical modeling for robot motion control. The explanation focuses on a composition of suitable mathematical models of robot dynamics intended for control design. Instead of usual Lagrangian formulation of dynamics, this paper presents robot dynamics by Hamiltonian formulation that leads to different physical descriptive quantities considered for control design. In the case of Hamiltonian formulation, a momentum is such physical quantity. In the paper, as representative control approaches, PD control with gravity compensation and model-oriented Lyapunov-based control are considered. The control approaches considering Hamiltonian formulation are demonstrated for simplicity on two-mass robot-arm system. However, the presented results are generally applicable e.g. to multi-purpose industrial robots-manipulators.
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
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
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
Proceeding of 17th International Carpathian Control Conference (ICCC)
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
Slovak Society for Applied Cybernetics and Informatics (SSAKI)
Place of publication
Košice
Event location
Tatranská Lomnica
Event date
May 29, 2016
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
000389829000153