Proceedings Vol. 23 (2017)
ENGINEERING MECHANICS 2017
23rd INTERNATIONAL CONFERENCE
May 15 – 18, 2017, Svratka, Czech Republic
;
May 15 – 18, 2017, Svratka, Czech Republic
Editors: Vladimír Fuis
Copyright © 2017 Brno University of Technology, Faculty of Mechanical Engineering, Institute of Solid Mechanics, Mechatronics and Biomechanics, Brno
ISBN 978-80-214-5497-2 (printed)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)
list of papers scientific commitee
APPLICATION OF HAMILTONIAN MECHANICS IN EXPONENTIALLY STABLE CONTROL OF ROBOTS
Záda V.
pages 1086 - 1089, full text
pages 1086 - 1089, full text
The paper deals with tracking control for robots-manipulators, where the 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 novel formulation by means of Hamiltonian mechanics.
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Text and facts may be copied and used freely, but credit should be given to these Proceedings.
All papers were reviewed by members of the scientific committee.
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