02132nam 2200433z- 450 9910346949603321202102111000086157(CKB)4920000000101026(oapen)https://directory.doabooks.org/handle/20.500.12854/42004(oapen)doab42004(EXLCZ)99492000000010102620202102d2018 |y 0gerurmn|---annantxtrdacontentcrdamediacrrdacarrierBewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver RegelungKIT Scientific Publishing20181 online resource (XXVI, 176 p. p.)Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe3-7315-0855-9 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.ArbeitsraumüberwachungBewegungsregelunghuman-robot-interactionMensch-Roboter-Interaktionmobile manipulationmobile Manipulationmodel predictive controlmodellprädiktive Regelungmotion controlworkspace monitoringZube Angelikaauth1318467BOOK9910346949603321Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung3033291UNINA