0459349 20240111140918.920160513235959.9 000379986700145 4 s. P cav_un_epca*0459389978-80-87012-59-81805-8248PrahaÚstav termomechaniky AV ČR, v. v. i.2016ZolotarevI.RadolfV. Robot-manipulator Hamiltonian formalism Modeling Robot control PD control cav_un_auth*0303190 Záda V. CZ cav_un_auth*0101064 Adaptivní systémy Department of Adaptive Systems AS AS Department of Adaptive Systems 50 Belda Květoslav UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. CD ROM http://library.utia.cas.cz/separaty/2016/AS/belda-0459349.pdf 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. cav_un_auth*0330483 Engineering Mechanics 2016 09.05.2016-12.05.2016 Svratka CZ BC 2017 2 PR RVO:67985556 http://hdl.handle.net/11104/0259699 1 S 3+4 Proceedings Paper Engineering Multidisciplinary|Mechanics|Physics Applied 2016 000379986700145 WOS CD ROM cav_un_epca*0459389 ENGINEERING MECHANICS 2016 978-80-87012-59-8 1805-8248 Praha Ústav termomechaniky AV ČR, v. v. i. 2016 340 Zolotarev I. 340 Radolf V.