Secchi / Stramigioli / Fantuzzi Control of Interactive Robotic Interfaces

A Port-Hamiltonian Approach
Erscheinungsjahr 2007
ISBN: 978-3-540-49715-8
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, Band 29, 233 Seiten, eBook

Reihe: Springer Tracts in Advanced Robotics

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.

Zielgruppe

Research

Autoren/Hrsg.

Secchi, Cristian

Stramigioli, Stefano

Fantuzzi, Cesare

Inhaltsverzeichnis

Physical Modeling and Port-Hamiltonian Systems.- Control of Port-Hamiltonian Systems.- A Port-Hamiltonian Approach to the Control of Interaction.- Port-Hamiltonian Based Bilateral Telemanipulation.- Transparency in Port-Hamiltonian Based Telemanipulation.