Application of Hamiltonian mechanics to control design for industrial robotic manipulators

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dc.contributor.authorZáda Václavcs
dc.date.accessioned2018-09-25T12:12:59Z
dc.date.available2018-09-25T12:12:59Z
dc.date.issued2017cs
dc.description.abstractThe 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.en
dc.format.extent6cs
dc.identifier.doi10.1109/MMAR.2017.8046859
dc.identifier.isbn978-153862402-9cs
dc.identifier.urihttps://dspace.tul.cz/handle/15240/31039
dc.identifier.urihttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8046859
dc.language.isoengcs
dc.publisherInstitute of Electrical and Electronicscs
dc.publisher.cityMiedzyzdroje; Polandcs
dc.relation.ispartofseries1cs
dc.subjectControl designcs
dc.subjectHamiltonian mechanicscs
dc.subjectLyapunov-based controlcs
dc.subjectRobotic manipulatorscs
dc.subjectTracking controlscs
dc.titleApplication of Hamiltonian mechanics to control design for industrial robotic manipulatorscs
local.citation.epage390-395cs
local.citation.spage390-395cs
local.identifier.publikace4495
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