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

• Main Author: Zube, Angelika (auth)
• Format: Electronic Book Chapter
• Published: KIT Scientific Publishing 2018
• Series: Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe
• Subjects: Bewegungsregelung; model predictive control; mobile manipulation; motion control; Mensch-Roboter-Interaktion; modellprädiktive Regelung; Arbeitsraumüberwachung; human-robot-interaction; mobile Manipulation; workspace monitoring
• Online Access: DOAB: download the publication; DOAB: description of the publication

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...