Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach

di Cristian Secchi (Autore)

Stefano Stramigioli (Autore)

Cesare Fantuzzi (Autore)

Springer-Verlag Berlin and Heidelberg GmbH & Co. KG, 2010

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.

• Autore: Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi
• Editore: Springer-Verlag Berlin and Heidelberg GmbH & Co. KG
• Collana: Springer Tracts in Advanced Robotics
• Anno: 2010
• Rilegatura: Paperback / softback
• Pagine: 233 p.
• Dimensioni: 235 x 155 mm
• EAN: 9783642080616

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