000 | 03547nam a22005655i 4500 | ||
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001 | 978-3-540-49715-8 | ||
003 | DE-He213 | ||
005 | 20161121231201.0 | ||
007 | cr nn 008mamaa | ||
008 | 100301s2007 gw | s |||| 0|eng d | ||
020 |
_a9783540497158 _9978-3-540-49715-8 |
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024 | 7 |
_a10.1007/978-3-540-49715-8 _2doi |
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050 | 4 | _aTJ210.2-211.495 | |
050 | 4 | _aTJ163.12 | |
072 | 7 |
_aTJFM _2bicssc |
|
072 | 7 |
_aTJFD _2bicssc |
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072 | 7 |
_aTEC004000 _2bisacsh |
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072 | 7 |
_aTEC037000 _2bisacsh |
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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. |
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300 |
_aXXIII, 233 p. 86 illus. _bonline resource. |
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336 |
_atext _btxt _2rdacontent |
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337 |
_acomputer _bc _2rdamedia |
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338 |
_aonline resource _bcr _2rdacarrier |
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347 |
_atext file _bPDF _2rda |
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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 |