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

By:

Zube, Angelika [auth]

Material type: Article

ArticleLanguage: German Publication details: KIT Scientific Publishing 2018Description: 1 electronic resource (XXVI, 176 p. p.)ISBN:

KSP/1000086157
9783731508557

Subject(s):

Online resources:

Summary: 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.

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Item type	Home library	Collection	Call number	Materials specified	Status	Date due	Barcode
Electronic-Books	OPJGU Sonepat- Campus	E-Books Open Access			Available

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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.

Creative Commons https://creativecommons.org/licenses/by-sa/4.0/ cc https://creativecommons.org/licenses/by-sa/4.0/

German

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