Springer Tracts in Advanced Robotics: A Port-Hamiltonian Approach

Secchi, Cristian; Stramigioli, Stefano; Fantuzzi, Cesare

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.

Details

Published by: Springer

Publication Date: 2007-02-15

Format: Hardcover

ISBN-13: 9783540497127

DOI: 10.1007/978-3-540-49715-8

Dimensions: 235cm x155cm

Pages: 233