Název:
Robot Control in Terms of Hamiltonian Mechanics
Autoři:
Záda, V. ; Belda, Květoslav Typ dokumentu: Příspěvky z konference Konference/Akce: Engineering Mechanics 2016, Svratka (CZ), 2016-05-09 / 2016-05-12
Rok:
2016
Jazyk:
eng
Abstrakt: The 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.
Klíčová slova:
Hamiltonian formalism; Modeling; PD control; Robot control; Robot-manipulator Zdrojový dokument: ENGINEERING MECHANICS 2016, ISBN 978-80-87012-59-8, ISSN 1805-8248