TY  - GEN
AU  - Zube,Angelika
TI  - Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung
SN  - KSP/1000086157
PY  - 2018///
PB  - KIT Scientific Publishing
KW  - Bewegungsregelung
KW  - model predictive control
KW  - mobile manipulation
KW  - motion control
KW  - Mensch-Roboter-Interaktion
KW  - modellprädiktive Regelung
KW  - Arbeitsraumüberwachung
KW  - human-robot-interaction
KW  - mobile Manipulation
KW  - workspace monitoring
N1  - Open Access
N2  - 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
UR  - https://www.ksp.kit.edu/9783731508557
UR  - https://directory.doabooks.org/handle/20.500.12854/42004
ER  -