{"id":"https://openalex.org/W2759804398","doi":"https://doi.org/10.1109/mmar.2017.8046859","title":"Application of Hamiltonian mechanics to control design for industrial robotic manipulators","display_name":"Application of Hamiltonian mechanics to control design for industrial robotic manipulators","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2759804398","doi":"https://doi.org/10.1109/mmar.2017.8046859","mag":"2759804398"},"language":"en","primary_location":{"id":"doi:10.1109/mmar.2017.8046859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2017.8046859","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://library.utia.cas.cz/separaty/2017/AS/belda-0477600.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033076052","display_name":"V\u00e1clav Z\u00e1da","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vaclav Zada","raw_affiliation_strings":["Department of Electromechanical Systems and Robotics, Institute of Mechatronics and Engineering Informatics, Liberec, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electromechanical Systems and Robotics, Institute of Mechatronics and Engineering Informatics, Liberec, Czech Republic","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056894175","display_name":"Kv\u011btoslav Belda","orcid":"https://orcid.org/0000-0002-1299-7704"},"institutions":[{"id":"https://openalex.org/I4210119419","display_name":"Czech Academy of Sciences, Institute of Information Theory and Automation","ror":"https://ror.org/03h1hsz49","country_code":"CZ","type":"facility","lineage":["https://openalex.org/I202391551","https://openalex.org/I4210119419"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Kvetoslav Belda","raw_affiliation_strings":["Department of Adaptive Systems, Institute of Information Theory and Automation of the CAS, Prague 8, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Adaptive Systems, Institute of Information Theory and Automation of the CAS, Prague 8, Czech Republic","institution_ids":["https://openalex.org/I4210119419"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"390","last_page":"395"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lagrangian-mechanics","display_name":"Lagrangian mechanics","score":0.7853336334228516},{"id":"https://openalex.org/keywords/hamiltonian-mechanics","display_name":"Hamiltonian mechanics","score":0.6483560800552368},{"id":"https://openalex.org/keywords/lagrangian","display_name":"Lagrangian","score":0.6018856167793274},{"id":"https://openalex.org/keywords/analytical-mechanics","display_name":"Analytical mechanics","score":0.5923981070518494},{"id":"https://openalex.org/keywords/analytical-dynamics","display_name":"Analytical dynamics","score":0.5724793672561646},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.546421468257904},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5335232615470886},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5238100290298462},{"id":"https://openalex.org/keywords/hamiltonian","display_name":"Hamiltonian (control theory)","score":0.5107367038726807},{"id":"https://openalex.org/keywords/hamiltonian-system","display_name":"Hamiltonian system","score":0.5104795694351196},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45255813002586365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4289695620536804},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.4080311954021454},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3461034893989563},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32265394926071167},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28338533639907837},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24886471033096313},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.23154175281524658},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19532009959220886},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.13701769709587097}],"concepts":[{"id":"https://openalex.org/C499771625","wikidata":"https://www.wikidata.org/wiki/Q324669","display_name":"Lagrangian mechanics","level":5,"score":0.7853336334228516},{"id":"https://openalex.org/C136864674","wikidata":"https://www.wikidata.org/wiki/Q477921","display_name":"Hamiltonian mechanics","level":3,"score":0.6483560800552368},{"id":"https://openalex.org/C53469067","wikidata":"https://www.wikidata.org/wiki/Q505735","display_name":"Lagrangian","level":2,"score":0.6018856167793274},{"id":"https://openalex.org/C206183056","wikidata":"https://www.wikidata.org/wiki/Q833065","display_name":"Analytical mechanics","level":4,"score":0.5923981070518494},{"id":"https://openalex.org/C140279962","wikidata":"https://www.wikidata.org/wiki/Q16002931","display_name":"Analytical dynamics","level":5,"score":0.5724793672561646},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.546421468257904},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5335232615470886},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5238100290298462},{"id":"https://openalex.org/C130787639","wikidata":"https://www.wikidata.org/wiki/Q5645293","display_name":"Hamiltonian (control theory)","level":2,"score":0.5107367038726807},{"id":"https://openalex.org/C121770821","wikidata":"https://www.wikidata.org/wiki/Q2072471","display_name":"Hamiltonian system","level":2,"score":0.5104795694351196},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45255813002586365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4289695620536804},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.4080311954021454},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3461034893989563},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32265394926071167},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28338533639907837},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24886471033096313},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.23154175281524658},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19532009959220886},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.13701769709587097},{"id":"https://openalex.org/C151342819","wikidata":"https://www.wikidata.org/wiki/Q62542","display_name":"Phase space","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C84114770","wikidata":"https://www.wikidata.org/wiki/Q46344","display_name":"Quantum","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C15184713","wikidata":"https://www.wikidata.org/wiki/Q7269042","display_name":"Quantum dynamics","level":3,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mmar.2017.8046859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2017.8046859","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:asep.lib.cas.cz:CavUnEpca/0477600","is_oa":true,"landing_page_url":"http://hdl.handle.net/11104/0274235","pdf_url":"http://library.utia.cas.cz/separaty/2017/AS/belda-0477600.pdf","source":{"id":"https://openalex.org/S7407055266","display_name":"ASEP","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:asep.lib.cas.cz:CavUnEpca/0477600","is_oa":true,"landing_page_url":"http://hdl.handle.net/11104/0274235","pdf_url":"http://library.utia.cas.cz/separaty/2017/AS/belda-0477600.pdf","source":{"id":"https://openalex.org/S7407055266","display_name":"ASEP","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.4000000059604645,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2759804398.pdf","grobid_xml":"https://content.openalex.org/works/W2759804398.grobid-xml"},"referenced_works_count":10,"referenced_works":["https://openalex.org/W89510016","https://openalex.org/W1559749952","https://openalex.org/W1560270123","https://openalex.org/W1594563152","https://openalex.org/W2053471784","https://openalex.org/W2125781923","https://openalex.org/W2145618422","https://openalex.org/W2508446542","https://openalex.org/W4206820429","https://openalex.org/W6678877028"],"related_works":["https://openalex.org/W3013347551","https://openalex.org/W1557187315","https://openalex.org/W4253951430","https://openalex.org/W4252852927","https://openalex.org/W2070655983","https://openalex.org/W4214906288","https://openalex.org/W4250737172","https://openalex.org/W4242685828","https://openalex.org/W615813843","https://openalex.org/W2015882123"],"abstract_inverted_index":{"The":[0,62],"paper":[1],"deals":[2],"with":[3,54,80],"a":[4],"tracking":[5],"control":[6,31,39],"for":[7],"robotic":[8,71],"manipulators,":[9,72],"where":[10],"the":[11,34,36,46,55],"robot":[12,78],"dynamics":[13],"is":[14,40,43],"described":[15],"by":[16],"means":[17],"of":[18,83],"Hamiltonian":[19,50],"mechanics.":[20,61],"This":[21],"way":[22],"leads":[23],"to":[24,67],"different":[25],"physical":[26],"descriptive":[27],"quantities":[28],"used":[29],"in":[30,45],"design.":[32],"In":[33],"paper,":[35],"model-oriented":[37],"Lyapunov-based":[38],"considered.":[41],"It":[42],"introduced":[44],"novel":[47],"formulation":[48,57],"using":[49],"mechanics":[51],"and":[52],"compared":[53],"conventional":[56],"based":[58],"on":[59,75],"Lagrangian":[60],"theoretical":[63],"results,":[64],"generally":[65],"applicable":[66],"usual":[68],"articulated":[69],"industrial":[70],"are":[73],"demonstrated":[74],"one":[76],"specific":[77],"arm":[79],"three":[81],"degrees":[82],"freedom.":[84]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
