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Control of Interactive Robotic Interfaces

Name: Control of Interactive Robotic Interfaces
Brand: Springer-Verlag Berlin and Heidelberg GmbH & Co. KG
SKU: 01565083
Price: 154.01 EUR
Availability: InStock
Author: Cristian Secchi
ISBN: 9783540497127

A Port-Hamiltonian Approach

Cristian Secchi

Stefano Stramigioli

Cesare Fantuzzi

Language

English

Book Hardback

Libristo code: 01565083

Publishers Springer-Verlag Berlin and Heidelberg GmbH & Co. KG, February 2007

This monograph deals with energy based control of interactive robotic interfaces and the port-Hamilt... Full description

Libristo code: 01565083

373 b

154.01 €

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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.