Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach

Description

Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach (Springer Tracts in Advanced Robotics)

 

By Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi, 

• Publisher:   Springer
• Number Of Pages:   225
• Publication Date:   2007-03
• Sales Rank:   1349002
• ISBN / ASIN:   3540497129
• EAN:   9783540497127
• Binding:   Hardcover
• Manufacturer:   Springer
• Studio:   Springer
• Average Rating:  
• Total Reviews:  

 

Book Description:

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.

http://rapidshare.com/files/27219536/Control_of_Interactive_Robotic_Interfaces.rar

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