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%2F67985556%3A_____%2F17%3A00477600" target="_blank" >RIV/67985556:_____/17:00477600 - 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
20205 - Automation and control systems
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
Proceedings of the 22nd IEEE International Conference on Methods and Models in Automation and Robotics
ISBN
978-1-5386-2403-6
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
390-395
Publisher name
West Pomeranian University of Technology
Place of publication
Szczecin
Event location
Miedzyzdroje
Event date
Aug 28, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000425229300072