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: 9783642080616
- Medium: Buch
- ISBN: 978-3-642-08061-6
- Verlag: Springer
- Erscheinungstermin: 30.11.2010
- Sprache(n): Englisch
- Auflage: 1. Auflage. Softcover version of original hardcover Auflage 2007
- Serie: Springer Tracts in Advanced Robotics
- Produktform: Kartoniert, Previously published in hardcover
- Gewicht: 400 g
- Seiten: 233
- Format (B x H x T): 155 x 235 x 15 mm
- Ausgabetyp: Kein, Unbekannt
Themen
- Mathematik | Informatik
- EDV | Informatik
- Informatik
- Künstliche Intelligenz
- Wissensbasierte Systeme, Expertensysteme
- Mathematik | Informatik
- EDV | Informatik
- Informatik
- Künstliche Intelligenz
- Wissensbasierte Systeme, Expertensysteme
- Mathematik | Informatik
- Mathematik
- Numerik und Wissenschaftliches Rechnen
- Angewandte Mathematik, Mathematische Modelle