Control of Interactive Robotic Interfaces: A Port-hamiltonian Approach - Couverture rigide

Livre 26 sur 153: Springer Tracts in Advanced Robotics

Secchi, Cristian; Stramigioli, Stefano; Fantuzzi, Cesare

 
9783540497127: Control of Interactive Robotic Interfaces: A Port-hamiltonian Approach
Couverture rigide
ISBN 10 : 3540497129 ISBN 13 : 9783540497127
Editeur : Springer-Verlag Berlin and Heidelberg GmbH & Co. K, 2007

Synopsis

This monograph deals with energy based control of interactive robotic interfaces and the port-Hamiltonian framework is exploited both for modeling and controlling interactive robotic interfaces. Using the port-Hamiltonian framework, it is possible to identify the energetic properties that have to be controlled in order to achieve a desired interactive behavior and it is possible to build a port-Hamiltonian controller that properly regulates the robotic interface by shaping its energetic properties.

Thanks to its generality, the port-Hamiltonian formalism allows to model and control also complex interactive robotic interfaces in a very natural way. In this book, a port-Hamiltonian approach for regulating the interaction between a robot and a local environment, a virtual environment (i.e. haptic interfaces) and a remote environment (i.e. bilateral telemanipulation systems) is developed.

Les informations fournies dans la section « Synopsis » peuvent faire référence à une autre édition de ce titre.

Éditeur
Springer-Verlag Berlin and Heidelberg GmbH & Co. K
Date d'édition
2007
Langue
anglais
ISBN 10 
3540497129
ISBN 13 
9783540497127
Reliure
Relié
Nombre de pages
233
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Autres éditions populaires du même titre

9783642080616: Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach

Edition présentée

ISBN 10 :  3642080618 ISBN 13 :  9783642080616
Editeur : Springer, 2010
Couverture souple