| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0477600 |
| utime |
20240103214445.4 |
| mtime |
20170906235959.9 |
| SCOPUS |
85035346967 |
| WOS |
000425229300072 |
| DOI |
10.1109/MMAR.2017.8046859 |
| title
(primary) (eng) |
Application of Hamiltonian Mechanics to Control Design for Industrial Robotic Manipulators |
| specification |
| page_count |
6 s. |
| media_type |
C |
|
| serial |
| ARLID |
cav_un_epca*0477597 |
| ISBN |
978-1-5386-2403-6 |
| title
|
Proceedings of the 22nd IEEE International Conference on Methods and Models in Automation and Robotics |
| page_num |
390-395 |
| publisher |
| place |
Szczecin |
| name |
West Pomeranian University of Technology |
| year |
2017 |
|
|
| keyword |
Hamiltonian mechanics |
| keyword |
Lyapunov-based control |
| keyword |
Industrial robotic manipulators |
| 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 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. |
| action |
| ARLID |
cav_un_auth*0349323 |
| name |
22nd IEEE International Conference on Methods and Models in Automation and Robotics |
| dates |
20170828 |
| mrcbC20-s |
20170831 |
| place |
Miedzyzdroje |
| country |
PL |
|
| RIV |
BC |
| FORD0 |
20000 |
| FORD1 |
20200 |
| FORD2 |
20205 |
| reportyear |
2018 |
| num_of_auth |
2 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0274235 |
| cooperation |
| ARLID |
cav_un_auth*0349324 |
| name |
Technická univerzita v Liberci, Fakulta mechatroniky, Ústav mechatroniky a technické informatiky, oddělení elektromechanických systémů a robotiky |
| institution |
TUL |
| country |
CZ |
|
| confidential |
S |
| mrcbC86 |
n.a. Proceedings Paper Automation Control Systems|Robotics |
| arlyear |
2017 |
| mrcbU14 |
85035346967 SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
000425229300072 WOS |
| mrcbU63 |
cav_un_epca*0477597 Proceedings of the 22nd IEEE International Conference on Methods and Models in Automation and Robotics 978-1-5386-2403-6 390 395 Szczecin West Pomeranian University of Technology 2017 |
|