| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0459349 |
| utime |
20240111140918.9 |
| mtime |
20160513235959.9 |
| WOS |
000379986700145 |
| title
(primary) (eng) |
Robot Control in Terms of Hamiltonian Mechanics |
| specification |
| page_count |
4 s. |
| media_type |
P |
|
| serial |
| ARLID |
cav_un_epca*0459389 |
| ISBN |
978-80-87012-59-8 |
| ISSN |
1805-8248 |
| title
|
ENGINEERING MECHANICS 2016 |
| publisher |
| place |
Praha |
| name |
Ústav termomechaniky AV ČR, v. v. i. |
| year |
2016 |
|
| editor |
|
| editor |
|
|
| keyword |
Robot-manipulator |
| keyword |
Hamiltonian formalism |
| keyword |
Modeling |
| keyword |
Robot control |
| keyword |
PD control |
| author
(primary) |
| ARLID |
cav_un_auth*0303190 |
| name1 |
Záda |
| name2 |
V. |
| country |
CZ |
|
| author
|
| ARLID |
cav_un_auth*0101064 |
| full_dept (cz) |
Adaptivní systémy |
| full_dept |
Department of Adaptive Systems |
| department (cz) |
AS |
| department |
AS |
| full_dept |
Department of Adaptive Systems |
| share |
50 |
| name1 |
Belda |
| name2 |
Květoslav |
| institution |
UTIA-B |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
|
| cas_special |
| abstract
(eng) |
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. |
| action |
| ARLID |
cav_un_auth*0330483 |
| name |
Engineering Mechanics 2016 |
| dates |
09.05.2016-12.05.2016 |
| place |
Svratka |
| country |
CZ |
|
| RIV |
BC |
| reportyear |
2017 |
| num_of_auth |
2 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0259699 |
| mrcbC61 |
1 |
| confidential |
S |
| mrcbC86 |
3+4 Proceedings Paper Engineering Multidisciplinary|Mechanics|Physics Applied |
| arlyear |
2016 |
| mrcbU34 |
000379986700145 WOS |
| mrcbU56 |
CD ROM |
| mrcbU63 |
cav_un_epca*0459389 ENGINEERING MECHANICS 2016 978-80-87012-59-8 1805-8248 Praha Ústav termomechaniky AV ČR, v. v. i. 2016 |
| mrcbU67 |
340 Zolotarev I. |
| mrcbU67 |
340 Radolf V. |
|