Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach - Couverture souple

Secchi, Cristian; Stramigioli, Stefano; Fantuzzi, Cesare

Couverture souple

ISBN 10 : 3642080618 ISBN 13 : 9783642080616

Editeur : Springer, 2010

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.

A propos du livre

Présentation de l'éditeur

This monograph deals with energy based control of interactive robotic interfaces. The port-Hamiltonian framework is exploited both for modeling and controlling interactive robotic interfaces. The book provides an energy oriented analysis and control synthesis of interactive robotic interfaces, from a single robot to multi-robot systems for interacting with real and virtual, possibly unstructured, environments.

Détails de l'édition

• Éditeur: Springer
• Date d'édition: 2010
• Langue: anglais
• ISBN 10: 3642080618
• ISBN 13: 9783642080616
• Reliure: Broché
• Nombre de pages: 260
• Coordonnées du fabricant: ProductSafety@springernature.com; ProductSafety@springernature.com; ; Poststr. 9; Darmstadt; 64293; Allemagne