Control of Interactive Robotic Interfaces
| Autor: | Fantuzzi, Cesare Secchi, Cristian Stramigioli, Stefano |
|---|---|
| EAN: | 9783540497127 |
| Sachgruppe: | Technik |
| Sprache: | Englisch |
| Seitenzahl: | 260 |
| Produktart: | Gebunden |
| Veröffentlichungsdatum: | 15.02.2007 |
| Untertitel: | A Port-Hamiltonian Approach |
| Schlagworte: | Roboter - Robotik - Industrieroboter |
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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.
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