Group theoretical approach in using canonical transformations and symplectic geometry in the control of approximately modelled mechanical systems interacting with an unmodelled environment

Robotica

Volumn 15, Issue 2, 1997, Pages 163-179

  Tar, J K ^a   Rudas, I J ^a   Bito J F ^a  

^a Banki Donat Polytechnic   (Hungary)

Author keywords

Canonical transformations; Mechanical systems control; Symplectic geometry; Unmodelled environment

Indexed keywords

EQUATIONS OF MOTION; MATHEMATICAL MODELS; MATHEMATICAL TRANSFORMATIONS; MECHANISMS;

CANONICAL TRANSFORMATIONS; SYMPLECTIC GEOMETRY; UNMODELLED ENVIRONMENT;

MOTION CONTROL;

EID: 0031101971     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574797000192     Document Type: Article

References (8)

1. S. Tosunoglu, "Dynamic Modeling of Compliant Robots for Modular Environment and Fault Tolerant Operations" Proc. of Dynamics and Stability, International Conference ob Spatial Mechanisms and High Class Mechanism, October 4-6, 1994, Alma Ata, Kazakhstan (1994) Vol. 3, pp. 27-34.
2. S. Tosunoglu, "Fault Tolerant Control of Mechanical Systems" Proc. of IEEE 21st International Conference on Industrial Electronics (IECON'95), 6-10 November 1995. Orlando, Florida (1995) Vol. 1, pp. 110-115.
3. B. Lantos, "Identification and adaptive control of robots" Int. J. Mechatronics 2, No. 3, 149-166 (1993).
4. L. Jánossy, Theory of Relativity based on Physical Reality (Akadémiai Kiadó, Budapest, Hungary, 1971).
5. J.K. Tar, O.M. Kaynak, J.F. Bito, I.J. Rudas & D. Master, "A New Method for Modelling the Dynamic Robot-Environment Interaction Based on the Generalization of the Canonical Formalism of Classical Mechanics" (Accepted for publication in the "First International ECPD Conference", Athens, Greece, July, 1995).
6. G. Szanosi. "Polyphonic Music and Classical Physics, the Origin of the Newtonian Concept of Time" History of Science 28, 175-191 (1990).
7. V.I. Arnold, "Mathematical Methods of Classical Mechanics" (original issue in Russian by "Nauka") Hungarian translation issued by Müszaki Könyukiadó Budapest, Hungary 1985).
8. I.J. Rudas, J.F. Bitó & J.K. Tar, "An Advanced Robot Control Scheme Using ANN and Fuzzy Theory Based Solutions" Robotica 14, part 2, 189-198 (1996).