Application of Hamiltonian mechanics to control design for industrial robotic manipulators
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Date
2017
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics
Abstract
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.
Description
Subject(s)
Control design, Hamiltonian mechanics, Lyapunov-based control, Robotic manipulators, Tracking controls
Citation
ISSN
ISBN
978-153862402-9