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001 978-3-540-49715-8
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008 100301s2007 gw | s |||| 0|eng d
020 _a9783540497158
_9978-3-540-49715-8
024 7 _a10.1007/978-3-540-49715-8
_2doi
050 4 _aTJ210.2-211.495
050 4 _aTJ163.12
072 7 _aTJFM
_2bicssc
072 7 _aTJFD
_2bicssc
072 7 _aTEC004000
_2bisacsh
072 7 _aTEC037000
_2bisacsh
082 0 4 _a629.8
_223
100 1 _aSecchi, Cristian.
_eauthor.
245 1 0 _aControl of Interactive Robotic Interfaces
_h[electronic resource] :
_bA Port-Hamiltonian Approach /
_cby Cristian Secchi, Cesare Fantuzzi, Stefano Stramigioli.
264 1 _aBerlin, Heidelberg :
_bSpringer Berlin Heidelberg,
_c2007.
300 _aXXIII, 233 p. 86 illus.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v29
505 0 _aPhysical Modeling and Port-Hamiltonian Systems -- Control of Port-Hamiltonian Systems -- A Port-Hamiltonian Approach to the Control of Interaction -- Port-Hamiltonian Based Bilateral Telemanipulation -- Transparency in Port-Hamiltonian Based Telemanipulation.
520 _aWhen 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. 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.
650 0 _aEngineering.
650 0 _aArtificial intelligence.
650 0 _aSystem theory.
650 0 _aControl engineering.
650 0 _aRobotics.
650 0 _aMechatronics.
650 1 4 _aEngineering.
650 2 4 _aControl, Robotics, Mechatronics.
650 2 4 _aArtificial Intelligence (incl. Robotics).
650 2 4 _aSystems Theory, Control.
700 1 _aFantuzzi, Cesare.
_eauthor.
700 1 _aStramigioli, Stefano.
_eauthor.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783540497127
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v29
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-540-49715-8
912 _aZDB-2-ENG
950 _aEngineering (Springer-11647)
999 _c509773
_d509773