LEADER 02132nam  2200433z- 450 
001 9910346949603321
005 20210211
010   $a1000086157
035   $a(CKB)4920000000101026
035   $a(oapen)https://directory.doabooks.org/handle/20.500.12854/42004
035   $a(oapen)doab42004
035   $a(EXLCZ)994920000000101026
100   $a20202102d2018      |y         0
101 0 $ager
135   $aurmn|---annan
181   $ctxt$2rdacontent
182   $cc$2rdamedia
183   $acr$2rdacarrier
200 00$aBewegungsregelung mobiler Manipulatoren fu?r die Mensch-Roboter-Interaktion mittels kartesischer modellpra?diktiver Regelung
210   $cKIT Scientific Publishing$d2018
215   $a1 online resource (XXVI, 176 p. p.)
225 1 $aKarlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe
311 08$a3-7315-0855-9 
330   $aFor 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.
610   $aArbeitsraumu?berwachung
610   $aBewegungsregelung
610   $ahuman-robot-interaction
610   $aMensch-Roboter-Interaktion
610   $amobile manipulation
610   $amobile Manipulation
610   $amodel predictive control
610   $amodellpra?diktive Regelung
610   $amotion control
610   $aworkspace monitoring
700   $aZube$b Angelika$4auth$01318467
906   $aBOOK
912   $a9910346949603321
996   $aBewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung$93033291
997   $aUNINA