Zube, Angelika <br/><br/>
Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung 

 -  KIT Scientific Publishing  2018 
 - 1 electronic resource (XXVI, 176 p. p.) 
<br/><br/> Open Access 
<br/><br/> 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. 
<br/><br/><br/>Creative Commons 
<br/><br/><br/>German 
<br/><br/><label>ISBN: </label>KSP/1000086157 9783731508557 
<br/><br/><label>Standard No.: </label>10.5445/KSP/1000086157  doi 
<br/><br/><label>Subjects--Index Terms: </label>Bewegungsregelung model predictive control mobile manipulation motion control Mensch-Roboter-Interaktion modellprädiktive Regelung Arbeitsraumüberwachung human-robot-interaction mobile Manipulation workspace monitoring