Engineering Mechanics

Proceedings Vol. 22 (2016)

ENGINEERING MECHANICS 2016

22nd INTERNATIONAL CONFERENCE
May 9 – 12, 2016, Svratka, Czech Republic

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Editors: Igor Zolotarev and Vojtěch Radolf

ISBN 978-80-87012-59-8 (printed)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)

list of papers scientific commitee

ROBOT CONTROL IN TERMS OF HAMILTONIAN MECHANICS

Záda V., Belda K.
pages 627 - 630, full text

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.

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Engineering Mechanics

International Conference

Proceedings Vol. 22 (2016)

ENGINEERING MECHANICS 2016