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.
| Autorius: | Cristian Secchi, Cesare Fantuzzi, Stefano Stramigioli, |
| Leidėjas: | Springer Berlin Heidelberg |
| Išleidimo metai: | 2007 |
| Knygos puslapių skaičius: | 260 |
| ISBN-10: | 3540497129 |
| ISBN-13: | 9783540497127 |
| Formatas: | Knyga kietu viršeliu |
| Kalba: | Anglų |
| Žanras: | Cybernetics and systems theory |
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