000021486 001__ 21486
000021486 005__ 20170522124357.0
000021486 04107 $$aeng
000021486 046__ $$k2017-05-15
000021486 100__ $$aZáda, V.
000021486 24500 $$aAPPLICATION OF HAMILTONIAN MECHANICS IN EXPONENTIALLY STABLE CONTROL OF ROBOTS

000021486 24630 $$n23.$$pEngineering Mechanics 2017
000021486 260__ $$bBrno University of Technology, Institute of Solid Mechanics, Mechatronics and Biomechanics, Brno
000021486 506__ $$arestricted
000021486 520__ $$2eng$$aThe paper deals with tracking control for robots-manipulators, where the 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 novel formulation by means of Hamiltonian mechanics.

000021486 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000021486 653__ $$aRobotic manipulators, Hamiltonian mechanics, Robot dynamics, Robot control.

000021486 7112_ $$aEngineering Mechanics 2017$$cSvratka, CZ$$d2017-05-15 / 2017-05-18$$gEM2017
000021486 720__ $$aZáda, V.
000021486 8560_ $$ffischerc@itam.cas.cz
000021486 8564_ $$s727767$$uhttps://invenio.itam.cas.cz/record/21486/files/1086.pdf$$yOriginal version of the author's contribution in proceedings, page 1086, section MCT.
000021486 962__ $$r21225
000021486 980__ $$aPAPER