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Application of Hamiltonian Mechanics to Control Design for Industrial Robotic Manipulators

Conference Paper (international conference)

Záda V., Belda Květoslav


serial: Proceedings of the 22nd IEEE International Conference on Methods and Models in Automation and Robotics, p. 390-395

action: 22nd IEEE International Conference on Methods and Models in Automation and Robotics, (Miedzyzdroje, PL, 20170828)

keywords: Hamiltonian mechanics, Lyapunov-based control, Industrial robotic manipulators

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abstract (eng):

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.

RIV: BC

2012-12-21 16:10