Control of Interactive Robotic Interfaces A Port-Hamiltonian Approach
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...
| Main Authors: | , , |
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| Format: | eBook |
| Language: | English |
| Published: |
Berlin, Heidelberg
Springer Berlin Heidelberg
2007, 2007
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| Edition: | 1st ed. 2007 |
| Series: | Springer Tracts in Advanced Robotics
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| Subjects: | |
| Online Access: | |
| Collection: | Springer eBooks 2005- - Collection details see MPG.ReNa |
Table of Contents:
- 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