bokomslag Control of Interactive Robotic Interfaces
Data & IT

Control of Interactive Robotic Interfaces

Cristian Secchi Stefano Stramigioli Cesare Fantuzzi

Pocket

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Andra format:

  • 233 sidor
  • 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.
  • Författare: Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi
  • Format: Pocket/Paperback
  • ISBN: 9783642080616
  • Språk: Engelska
  • Antal sidor: 233
  • Utgivningsdatum: 2010-11-30
  • Förlag: Springer-Verlag Berlin and Heidelberg GmbH & Co. K