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

• Autore: Zube Angelika
• Pubblicazione: KIT Scientific Publishing, 2018
• Descrizione fisica: 1 electronic resource (XXVI, 176 p. p.)
• Soggetto non controllato: Bewegungsregelung; model predictive control; mobile manipulation; motion control; Mensch-Roboter-Interaktion; modellprädiktive Regelung; Arbeitsraumüberwachung; human-robot-interaction; mobile Manipulation; workspace monitoring
• Sommario/riassunto: 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.
• Titolo autorizzato: Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung
• ISBN: 1000086157
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Tedesco
• Record Nr.: 9910346949603321
• Lo trovi qui: Univ. Federico II