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© 2007

Control of Interactive Robotic Interfaces

A Port-Hamiltonian Approach

  • An energy oriented analysis and control synthesis of interactive robotic interfaces, from a single robot to multi-robot systems for interacting with real and virtual, possibly unstructured, environments

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Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 29)

About this book

Introduction

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 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.

Keywords

Haptics Interactive Robotic Interfaces Port-Hamiltonian Systems Telerobotics behavior control modeling robot

Authors and affiliations

  1. 1.DISMI — University of Modena and Reggio EmiliaReggio EmiliaItaly
  2. 2.Universiteit Twente EL/CEEnschedeThe Netherlands

Bibliographic information

  • Book Title Control of Interactive Robotic Interfaces
  • Book Subtitle A Port-Hamiltonian Approach
  • Authors Cristian Secchi
    Stefano Stramigioli
    Cesare Fantuzzi
  • Series Title Springer Tracts in Advanced Robotics
  • DOI https://doi.org/10.1007/978-3-540-49715-8
  • Copyright Information Springer-Verlag Berlin Heidelberg 2007
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Hardcover ISBN 978-3-540-49712-7
  • Softcover ISBN 978-3-642-08061-6
  • eBook ISBN 978-3-540-49715-8
  • Series ISSN 1610-7438
  • Edition Number 1
  • Number of Pages XXIII, 233
  • Number of Illustrations 86 b/w illustrations, 0 illustrations in colour
  • Topics Control, Robotics, Mechatronics
    Artificial Intelligence
    Systems Theory, Control
  • Buy this book on publisher's site
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Reviews

From the reviews:

"This book deals with the important problem of modeling and controlling the interaction between two physical systems—from one side the robot and from the other side its environment. … It is a suitable tool to formally model physical systems based on the energy concept and its relations. The authors introduce the energy-based control to the modeling and controlling phase of interactive robotics interfaces. … The theoretical considerations and solutions are well interpreted with some practical examples." (Aleksander Michal Nawrat, Mathematical Reviews, Issue 2008 f)