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...
- Autores:
- Tipo de recurso:
- Book
- Fecha de publicación:
- 2018
- Institución:
- Universidad de Bogotá Jorge Tadeo Lozano
- Repositorio:
- Expeditio: repositorio UTadeo
- Idioma:
- ger
- OAI Identifier:
- oai:expeditiorepositorio.utadeo.edu.co:20.500.12010/17589
- Acceso en línea:
- https://directory.doabooks.org/handle/20.500.12854/42004
http://hdl.handle.net/20.500.12010/17589
- Palabra clave:
- Bewegungsregelung
Model predictive control
Mobile manipulation
Robótica
Interacción hombre-robot
Dispositivos hápticos
- Rights
- License
- Abierto (Texto Completo)
| 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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