000012514 001__ 12514
000012514 005__ 20160816141450.0
000012514 04107 $$aeng
000012514 046__ $$k2016-05-09
000012514 100__ $$aZáda, V.
000012514 24500 $$aROBOT CONTROL IN TERMS OF HAMILTONIAN MECHANICS

000012514 24630 $$n22.$$pEngineering Mechanics 2016
000012514 260__ $$bInstitute of Thermomechanics AS CR, v.v.i., Praha
000012514 506__ $$arestricted
000012514 520__ $$2eng$$aThe 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.

000012514 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000012514 653__ $$aRobot-manipulator, Hamiltonian formalism, Modeling, Robot control, PD control.

000012514 7112_ $$aEngineering Mechanics 2016$$cSvratka, CZ$$d2016-05-09 / 2016-05-12$$gEM2016
000012514 720__ $$aZáda, V.$$iBelda, K.
000012514 8560_ $$ffischerc@itam.cas.cz
000012514 8564_ $$s604898$$uhttps://invenio.itam.cas.cz/record/12514/files/144bo_o_mct.pdf$$yOriginal version of the author's contribution as presented on CD, id 144, section MCT.
000012514 962__ $$r12369
000012514 980__ $$aPAPER