Canonical transformations used to derive robot control laws from a port-controlled Hamiltonian system perspective

Automatica

Volumn 44, Issue 9, 2008, Pages 2435-2440

  Mulero Martínez, Juan Ignacio ^a  

^a TECHNICAL UNIVERSITY OF CARTAGENA   (Spain)

Author keywords

Mechanical manipulators; Nonlinear control; Passive compensation; Tracking systems

Indexed keywords

AUTOMATION; CONTROL SYSTEMS; FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; LAWS AND LEGISLATION; MACHINE DESIGN; MANIPULATORS; MODULAR ROBOTS; NAVIGATION; PASSIVATION; PORTS AND HARBORS; ROBOT APPLICATIONS; ROBOTICS; ROBOTS; STANDARDS;

CANONICAL TRANSFORMATIONS; CONTROL DESIGNS; CONTROL LAWS; GRAVITY COMPENSATION; HAMILTONIAN SYSTEMS; INPUT-OUTPUT MAPPING; LEGENDRE; LYAPUNOV; MECHANICAL MANIPULATORS; NON-AUTONOMOUS; NON-HOMOGENEOUS; NONLINEAR CONTROL; PAPER ADDRESSES; PASSIVE COMPENSATION; PASSIVITY-BASED CONTROL; PD CONTROLLING; PORT-CONTROLLED HAMILTONIAN; PORT-CONTROLLED HAMILTONIAN SYSTEMS; REFERENCE TRAJECTORIES; ROBOT CONTROLS; ROBOT MANIPULATORS; TRACKING CONTROLS; TRACKING SYSTEMS;

HAMILTONIANS;

EID: 50249090429     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.automatica.2008.02.004     Document Type: Article

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