Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

Gebundenes Buch

Control of Interactive Robotic Interfaces

A Port-Hamiltonian Approach

Beschreibung

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.

Autor

Cristian Secchi, DISMI - University of Modena and Reggio Emilia, Reggio Emilia, Italy / Stefano Stramigioli, University of Twente, Enschede, The Netherlands / Cesare Fantuzzi, DISMI - University of Modena and Reggio Emilia, Reggio Emilia, Italy

Produktdetails

• Springer Tracts in Advanced Robotics 29
• Verlag: Springer / Springer Berlin Heidelberg / Springer, Berlin
• Artikelnr. des Verlages: 11780014, 978-3-540-49712-7
• 2007
• Seitenzahl: 260
• Erscheinungstermin: 15. Februar 2007
• Englisch
• Abmessung: 241mm x 160mm x 19mm
• Gewicht: 543g
• ISBN-13: 9783540497127
• ISBN-10: 3540497129
• Artikelnr.: 22404374