Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung
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...
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| Natura: | Online |
| Lingua: | tedesco |
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KIT Scientific Publishing
2021
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| Accesso online: | 34158 |
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| _version_ | 1869529621784952832 |
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| author | Zube, Angelika |
| author_browse | Zube, Angelika |
| author_facet | Zube, Angelika |
| author_sort | Zube, Angelika |
| collection | Directory of Open Access Books |
| description | 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. |
| format | Online |
| id | doab-20.500.12854ir-42004 |
| institution | Directory of Open Access Books |
| language | ger |
| publishDate | 2021 |
| publishDateRange | 2021 |
| publishDateSort | 2021 |
| publisher | KIT Scientific Publishing |
| publisherStr | KIT Scientific Publishing |
| record_format | ojs |
| spelling | doab-20.500.12854ir-420042023-12-20T18:40:51Z Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung Zube, Angelika QA75.5-76.95 Bewegungsregelung model predictive control mobile manipulation motion control Mensch-Roboter-Interaktion modellprädiktive Regelung Arbeitsraumüberwachung human-robot-interaction mobile Manipulation workspace monitoring bic Book Industry Communication::U Computing & information technology::UY Computer science 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. 2021-02-11T08:59:21Z 2021-02-11T08:59:21Z 2019-07-28 18:37:01 2018 book 34158 18636489 9783731508557 https://directory.doabooks.org/handle/20.500.12854/42004 ger Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe image/jpeg Attribution-ShareAlike 4.0 International https://www.ksp.kit.edu/9783731508557 KIT Scientific Publishing 10.5445/KSP/1000086157 10.5445/KSP/1000086157 68fffc18-8f7b-44fa-ac7e-0b7d7d979bd2 9783731508557 XXVI, 176 p. open access |
| spellingShingle | QA75.5-76.95 Bewegungsregelung model predictive control mobile manipulation motion control Mensch-Roboter-Interaktion modellprädiktive Regelung Arbeitsraumüberwachung human-robot-interaction mobile Manipulation workspace monitoring bic Book Industry Communication::U Computing & information technology::UY Computer science Zube, Angelika Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung |
| title | Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung |
| title_full | Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung |
| title_fullStr | Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung |
| title_full_unstemmed | Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung |
| title_short | Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung |
| title_sort | bewegungsregelung mobiler manipulatoren fur die mensch roboter interaktion mittels kartesischer modellpradiktiver regelung |
| topic | QA75.5-76.95 Bewegungsregelung model predictive control mobile manipulation motion control Mensch-Roboter-Interaktion modellprädiktive Regelung Arbeitsraumüberwachung human-robot-interaction mobile Manipulation workspace monitoring bic Book Industry Communication::U Computing & information technology::UY Computer science |
| topic_facet | QA75.5-76.95 Bewegungsregelung model predictive control mobile manipulation motion control Mensch-Roboter-Interaktion modellprädiktive Regelung Arbeitsraumüberwachung human-robot-interaction mobile Manipulation workspace monitoring bic Book Industry Communication::U Computing & information technology::UY Computer science |
| url | 34158 |
| work_keys_str_mv | AT zubeangelika bewegungsregelungmobilermanipulatorenfurdiemenschroboterinteraktionmittelskartesischermodellpradiktiverregelung |