Available:*
Library | Item Barcode | Call Number | Material Type | Item Category 1 | Status |
---|---|---|---|---|---|
Searching... | 30000010133240 | TJ211.35 S42 2007 | Open Access Book | Book | Searching... |
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Summary
Summary
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.
Table of Contents
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 |
A Mathematical Background |