Energy in Robotics

ISBN-13: 9781680833126 / Angielski / Miękka / 2017 / 88 str.

Gerrit a. Folkertsma; Stefano Stramigioli

Opis

Presents a holistic, energy-based view of robotic systems. Using the theory of Port-Hamiltonian Systems as a basis, it provides examples pertaining to energy measurement, passivity and safety.

Spis treści

• 1: Introduction
• 2: Energy in controlled physical systems
• 3: Control by interconnection
• 4: Control by physical interconnection
• 5: Conclusion
• Acknowledgements
• Appendices
• References