Original title: Robot Control in Terms of Hamiltonian Mechanics
Authors: Záda, V. ; Belda, Květoslav
Document type: Papers
Conference/Event: Engineering Mechanics 2016, Svratka (CZ), 2016-05-09 / 2016-05-12
Year: 2016
Language: eng
Abstract: 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.
Keywords: Hamiltonian formalism; Modeling; PD control; Robot control; Robot-manipulator
Host item entry: ENGINEERING MECHANICS 2016, ISBN 978-80-87012-59-8, ISSN 1805-8248

Institution: Institute of Information Theory and Automation AS ČR (web)
Document availability information: Fulltext is available at external website.
External URL: http://library.utia.cas.cz/separaty/2016/AS/belda-0459349.pdf
Original record: http://hdl.handle.net/11104/0259699

Permalink: http://www.nusl.cz/ntk/nusl-204416


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Research > Institutes ASCR > Institute of Information Theory and Automation
Conference materials > Papers