Control of Interactive Robotic Interfaces

A Port-Hamiltonian Approach

von Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

233 Seiten, Taschenbuch

Kurzbeschreibung des Verlags

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.

• Reihe: Springer Tracts in Advanced Robotics
• Themen: Technologie, Ingenieurswissenschaft, Landwirtschaft, Industrieprozesse Elektronik, Nachrichtentechnik Elektronik Regelungstechnik
• ISBN: 9783642080616
• Sprache: Englisch
• Erscheinungsdatum: 30.11.2010
• Größe: 23.5 x 15.5 cm
• Verlag: Springer Berlin