0459855 20240103212303.020160606235959.9 84979640084 000389829000153 10.1109/CarpathianCC.2016.7501208 6 s. C cav_un_epca*0459854978-1-4673-8606-7813-818KošiceSlovak Society for Applied Cybernetics and Informatics (SSAKI)2016 Robot-manipulator Hamiltonian formalism mathematical modeling PD control model-oreinted motion control cav_un_auth*0303190 50 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. http://library.utia.cas.cz/separaty/2016/AS/belda-0459855.pdf 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. cav_un_auth*0330878 17th International Carpathian Control Conference (ICCC) 29.05.2016-01.06.2016 Tatranská Lomnica SK BC 2017 2 PR RVO:67985556 http://hdl.handle.net/11104/0260020 S n.a. Proceedings Paper Automation Control Systems|Engineering Electrical Electronic 2016 84979640084 SCOPUS 000389829000153 WOS cav_un_epca*0459854 Proceeding of 17th International Carpathian Control Conference (ICCC) 978-1-4673-8606-7 813 818 Košice Slovak Society for Applied Cybernetics and Informatics (SSAKI) 2016