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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.
Produkteigenschaften
- Artikelnummer: 9783540497127
- Medium: Buch
- ISBN: 978-3-540-49712-7
- Verlag: Springer Berlin Heidelberg
- Erscheinungstermin: 15.02.2007
- Sprache(n): Englisch
- Auflage: 2007
- Serie: Springer Tracts in Advanced Robotics
- Produktform: Gebunden
- Gewicht: 559 g
- Seiten: 233
- Format (B x H x T): 160 x 241 x 19 mm
- Ausgabetyp: Kein, Unbekannt
Themen
- Mathematik | Informatik
- EDV | Informatik
- Informatik
- Künstliche Intelligenz
- Wissensbasierte Systeme, Expertensysteme
- Mathematik | Informatik
- Mathematik
- Numerik und Wissenschaftliches Rechnen
- Angewandte Mathematik, Mathematische Modelle