Control of Intelligent Robotic Interfaces

Control of Intelligent Robotic Interfaces
اسم المؤلف
Bruno Siciliano, Oussama Khatib, Frans Groen, Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi
التاريخ
17 فبراير 2018
المشاهدات
التقييم
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Control of Intelligent Robotic Interfaces
A Port-Hamiltonian Approach With 86 Figures
Bruno Siciliano, Oussama Khatib, Frans Groen, Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi
Contents
1 Physical Modeling and Port-Hamiltonian Systems
1.1 Introduction
1.2 The Behavioral Paradigm for Modeling Dynamical Systems . . . 2
1.2.1 Universe, Behavior and Behavioral Equations
1.2.2 Manifest and Latent Variables
1.2.3 Dynamical Systems
1.2.4 Inputs and Outputs
1.3 Physical Modeling
1.4 Implicit Port-Hamiltonian Systems
1.4.1 A Coordinate Based Representation
1.5 Geometric Scattering
1.6 Conclusions
2 Control of Port-Hamiltonian Systems
2.1 Introduction
2.2 Basic Concepts of Passivity Theory
2.2.1 Definitions and Properties
2.2.2 Output Feedback Stabilization of Passive Systems .
2.2.3 Port-Hamiltonian Systems and Passivity
2.3 Energy Shaping of Port-Hamiltonian Systems
2.3.1 Stabilization by Energy Balancing
2.3.2 The Control as Interconnection Paradigm
2.3.3 Energy Shaping as Control by Interconnection . . . .
2.4 Interconnection and Damping Assignment Passivity Based
Control
2.5 A Variable Structure Approach to Energy-Based Control .
2.6 Conclusions
3 A Port-Hamiltonian Approach to the Control of Interaction 77
3.1 Introduction
3.2 Intrinsically Passive Control of Interaction
77
78XVI Contents
3.3 Intrinsically Passive Control of Robotic Systems
3.3.1 IPC for Anthropomorphic Robotic Arms
3.3.2 IPC for Grasping
3.4 Interaction with Virtual Environments: Haptic Interfaces . . .
3.4.1 Sampled Port-Hamilton!an Systems
3.4.2 Energy Consistent Sampled Passivity
3.4.3 Passive Coupled Behavior
3.4.4 Dealing with Quantization Errors
3.5 Delayed Virtual Environments
3.5.1 The Effect of Delayed Output
3.5.2 Passive Discretization of Port-Hamiltonian Systems in
Scattering Representation
3.6 Force Scaling in Port-Hamiltonian Based Haptic Interfaces . . . . 110
3.6.1 Power Scaling in Port-Hamiltonian Based Haptic
Interfaces
3.6.2 Variable Scaling
3.7 Simulations
3.8 Conclusions
4 Port-Hamiltonian Based Bilateral Telemanipulation
4.1 Introduction
4.2 Port-Hamiltonian Based Bilateral Telemanipulation
4.2.1 An Energetic Analysis of a Bilateral Telemanipulation
System
4.2.2 Passive Control of Interaction
4.2.3 Passive Communication Channel
4.2.4 The Intrinsically Passive Telemanipulation Scheme . . . . 137
4.3 Complex Telemanipulation Systems: Telegrasping
4.4 A Digital Scheme for Intrinsically Passive Telemanipulation . . . 147
4.5 Improving Performances in Intrinsically Passive Digital
Telemanipulation
4.6 Conclusions
5 Transparency in Port-Hamiltonian Based Telemanipulation 165
5.1 Introduction
5.2 A Model for the Contact Impedance
5.3 A Behavioral Framework for Evaluating Transparency
5.3.1 Analysis of the Port Behavior
5.3.2 Transparency in Telemanipulation
5.3.3 Transparent Telemanipulation as a Behavioral Control
Problem
5.4 Transparency in Port-Hamiltonian Based Telemanipulation . . . 173
5.4.1 Tuning the IPC
5.4.2 Transparency Analysis of a Scattering Based Packet
Switching Communication Channel
5.4.3 Simulations
5.5 A Passivity Preserving Tuning of Port-Hamiltonian Systems . . 184
5.5.1 Parameters Associated to Energy Storage
5.5.2 Parameters Associated to Energy Dissipation and
Interconnection
5.5.3 Simulations
5.6 A Scheme for Transparent Port-Hamiltonian Based
Telemanipulation
5.7 Conclusions
A Mathematical Background
A.l Manifolds and Vector Bundles
A.2 Tensors
A.3 Lie Groups and Rigid Motions
A.3.1 An Example: The Special Euclidean Group SE(3)
References 211
Index 231
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