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Beschreibung
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.
A Port-Hamiltonian Approach
A Port-Hamiltonian Approach
Details
| Verlag | Springer Berlin |
| Ersterscheinung | 15. Februar 2007 |
| Maße | 23.5 cm x 15.5 cm |
| Gewicht | 559 Gramm |
| Format | Hardcover |
| ISBN-13 | 9783540497127 |
| Seiten | 233 |
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