| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0459855 |
| utime |
20240103212303.0 |
| mtime |
20160606235959.9 |
| SCOPUS |
84979640084 |
| WOS |
000389829000153 |
| DOI |
10.1109/CarpathianCC.2016.7501208 |
| title
(primary) (eng) |
Mathematical Modeling of lndustrial Robots Based on Hamiltonian Mechanics |
| specification |
| page_count |
6 s. |
| media_type |
C |
|
| serial |
| ARLID |
cav_un_epca*0459854 |
| ISBN |
978-1-4673-8606-7 |
| title
|
Proceeding of 17th International Carpathian Control Conference (ICCC) |
| page_num |
813-818 |
| publisher |
| place |
Košice |
| name |
Slovak Society for Applied Cybernetics and Informatics (SSAKI) |
| year |
2016 |
|
|
| keyword |
Robot-manipulator |
| keyword |
Hamiltonian formalism |
| keyword |
mathematical modeling |
| keyword |
PD control |
| keyword |
model-oreinted motion control |
| author
(primary) |
| ARLID |
cav_un_auth*0303190 |
| share |
50 |
| 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 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. |
| action |
| ARLID |
cav_un_auth*0330878 |
| name |
17th International Carpathian Control Conference (ICCC) |
| dates |
29.05.2016-01.06.2016 |
| place |
Tatranská Lomnica |
| country |
SK |
|
| RIV |
BC |
| reportyear |
2017 |
| num_of_auth |
2 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0260020 |
| confidential |
S |
| mrcbC86 |
n.a. Proceedings Paper Automation Control Systems|Engineering Electrical Electronic |
| arlyear |
2016 |
| mrcbU14 |
84979640084 SCOPUS |
| mrcbU34 |
000389829000153 WOS |
| mrcbU63 |
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 |
|