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Publication details

Robot Control in Terms of Hamiltonian Mechanics

Conference Paper (international conference)

Záda V., Belda Květoslav

serial: ENGINEERING MECHANICS 2016 , Eds: Zolotarev I., Radolf V.

action: Engineering Mechanics 2016, (Svratka, CZ, 09.05.2016-12.05.2016)

keywords: Robot-manipulator, Hamiltonian formalism, Modeling, Robot control, PD control

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abstract (eng):

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.


2012-12-21 16:10