Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung

By: Material type: ArticleArticleLanguage: German Publication details: KIT Scientific Publishing 2018Description: 1 electronic resource (XXVI, 176 p. p.)ISBN:
  • KSP/1000086157
  • 9783731508557
Subject(s): Online resources: Summary: For human-robot-interaction, this work proposes a method for monitoring the complex, dynamic environment of the robot. The robot motion is controlled based on the concept of nonlinear model predictive control. The controller considers the detected obstacles and intended or unintended contacts of the robot with its environment so that undesired collisions are avoided and an adequate reaction to contacts is achieved. The proposed approaches are analyzed on a mobile manipulator.
Item type:
Tags from this library: No tags from this library for this title. Log in to add tags.
Star ratings
    Average rating: 0.0 (0 votes)
No physical items for this record

Open Access star Unrestricted online access

For human-robot-interaction, this work proposes a method for monitoring the complex, dynamic environment of the robot. The robot motion is controlled based on the concept of nonlinear model predictive control. The controller considers the detected obstacles and intended or unintended contacts of the robot with its environment so that undesired collisions are avoided and an adequate reaction to contacts is achieved. The proposed approaches are analyzed on a mobile manipulator.

Creative Commons https://creativecommons.org/licenses/by-sa/4.0/ cc https://creativecommons.org/licenses/by-sa/4.0/

German

There are no comments on this title.

to post a comment.
Share