Title: Control Of Interactive Robotic Interfaces A Port Hamiltonian Approach (2007) (Hb 2007)
Publisher: Springer
Publication Date: 2007
Language: English
ISBN 10: 3540497129
ISBN 13: 9783540497127
Binding: Hardcover
Condition: New

About this title

Synopsis

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.

From the Back Cover

When two physical systems (e.g. a robot and its environment) interact they exchange energy through localized ports and, in order to control their interaction, it is necessary to control the exchanged energy.

The port-Hamiltonian formalism provides a general framework for modeling physical systems based on the concepts of energy, interconnection and power ports which describe the phenomena of energy storage, energy exchange and external interaction respectively.

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