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Control of Interactive Robotic Interfaces
A Port-Hamiltonian Approach
Inbunden, Engelska, 2007
2 139 kr
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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.
Produktinformation
- Utgivningsdatum2007-02-15
- Mått155 x 235 x 19 mm
- Vikt559 g
- FormatInbunden
- SpråkEngelska
- SerieSpringer Tracts in Advanced Robotics
- Antal sidor233
- FörlagSpringer-Verlag Berlin and Heidelberg GmbH & Co. KG
- ISBN9783540497127
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