Control of Interactive Robotic Interfaces A Port-Hamiltonian Approach /

• Κύριοι συγγραφείς: Secchi, Cristian (Συγγραφέας), Fantuzzi, Cesare (Συγγραφέας), Stramigioli, Stefano (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Berlin, Heidelberg : Springer Berlin Heidelberg, 2007.
• Σειρά: Springer Tracts in Advanced Robotics, 29
• Θέματα: Engineering.; Artificial intelligence.; System theory.; Control engineering.; Robotics.; Mechatronics.; Control, Robotics, Mechatronics.; Artificial Intelligence (incl. Robotics).; Systems Theory, Control.

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 ba...

Πίνακας περιεχομένων:

• Physical 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.