By Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi
This monograph bargains with power dependent keep an eye on of interactive robot interfaces and the port-Hamiltonian framework is exploited either for modeling and controlling interactive robot interfaces. utilizing the port-Hamiltonian framework, it's attainable to spot the vigorous homes that experience to be managed so one can in achieving a wanted interactive habit and it's attainable to construct a port-Hamiltonian controller that accurately regulates the robot interface via shaping its full of life houses.
Thanks to its generality, the port-Hamiltonian formalism permits to version and keep watch over additionally advanced interactive robot interfaces in a truly usual method. during this publication, a port-Hamiltonian strategy for regulating the interplay among a robotic and a neighborhood surroundings, a digital setting (i.e. haptic interfaces) and a distant surroundings (i.e. bilateral telemanipulation platforms) is developed.
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