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Anotace knihy

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.

Parametry knihy

Zařazení knihy Knihy v angličtině Technology, engineering, agriculture Electronics & communications engineering Electronics engineering

• Plný název: Control of Interactive Robotic Interfaces
• Podnázev: A Port-Hamiltonian Approach
• Autor: Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi
• Jazyk: Angličtina
• Vazba: Pevná
• Počet stran: 233
• EAN: 9783540497127
• ISBN: 3540497129
• ID: 01565083
• Nakladatelství: Springer-Verlag Berlin and Heidelberg GmbH & Co. KG
• Hmotnost: 559 g
• Rozměry: 235 × 155 × 19 mm
• Datum vydání: 15. February 2007

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