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...

Full description

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)
id UTADEO2_544f8aae19b34d09883c49b64ee4e6b8
oai_identifier_str oai:expeditiorepositorio.utadeo.edu.co:20.500.12010/17589
network_acronym_str UTADEO2
network_name_str Expeditio: repositorio UTadeo
repository_id_str
dc.title.spa.fl_str_mv 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
spellingShingle Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung
Bewegungsregelung
Model predictive control
Mobile manipulation
Robótica
Interacción hombre-robot
Dispositivos hápticos
title_short 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_sort Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung
dc.subject.spa.fl_str_mv Bewegungsregelung
Model predictive control
Mobile manipulation
topic Bewegungsregelung
Model predictive control
Mobile manipulation
Robótica
Interacción hombre-robot
Dispositivos hápticos
dc.subject.lemb.spa.fl_str_mv Robótica
Interacción hombre-robot
Dispositivos hápticos
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.
publishDate 2018
dc.date.created.none.fl_str_mv 2018
dc.date.accessioned.none.fl_str_mv 2021-02-22T19:25:07Z
dc.date.available.none.fl_str_mv 2021-02-22T19:25:07Z
dc.type.coar.spa.fl_str_mv http://purl.org/coar/resource_type/c_2f33
format http://purl.org/coar/resource_type/c_2f33
dc.identifier.isbn.none.fl_str_mv 9783731508557
dc.identifier.other.none.fl_str_mv https://directory.doabooks.org/handle/20.500.12854/42004
dc.identifier.uri.none.fl_str_mv http://hdl.handle.net/20.500.12010/17589
dc.identifier.doi.none.fl_str_mv 10.5445/KSP/1000086157
identifier_str_mv 9783731508557
10.5445/KSP/1000086157
url https://directory.doabooks.org/handle/20.500.12854/42004
http://hdl.handle.net/20.500.12010/17589
dc.language.iso.spa.fl_str_mv ger
language ger
dc.rights.coar.fl_str_mv http://purl.org/coar/access_right/c_abf2
dc.rights.local.spa.fl_str_mv Abierto (Texto Completo)
dc.rights.creativecommons.none.fl_str_mv https://creativecommons.org/licenses/by-sa/4.0/
rights_invalid_str_mv Abierto (Texto Completo)
https://creativecommons.org/licenses/by-sa/4.0/
http://purl.org/coar/access_right/c_abf2
dc.format.extent.spa.fl_str_mv XXVI, 176 páginas
dc.format.mimetype.spa.fl_str_mv application/pdf
dc.publisher.spa.fl_str_mv KIT Scientific Publishing
institution Universidad de Bogotá Jorge Tadeo Lozano
bitstream.url.fl_str_mv https://expeditiorepositorio.utadeo.edu.co/bitstream/20.500.12010/17589/1/978-3-7315-0855-7.pdf
https://expeditiorepositorio.utadeo.edu.co/bitstream/20.500.12010/17589/2/license.txt
https://expeditiorepositorio.utadeo.edu.co/bitstream/20.500.12010/17589/3/978-3-7315-0855-7.pdf.jpg
bitstream.checksum.fl_str_mv 4e2aa59d58505337787f05a3d42e8e85
abceeb1c943c50d3343516f9dbfc110f
7b36eaac55f8c44e688af714a40048d7
bitstream.checksumAlgorithm.fl_str_mv MD5
MD5
MD5
repository.name.fl_str_mv Repositorio Institucional - Universidad Jorge Tadeo Lozano
repository.mail.fl_str_mv expeditio@utadeo.edu.co
_version_ 1814213678719827968
spelling 2021-02-22T19:25:07Z2021-02-22T19:25:07Z20189783731508557https://directory.doabooks.org/handle/20.500.12854/42004http://hdl.handle.net/20.500.12010/1758910.5445/KSP/1000086157For 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.XXVI, 176 páginasapplication/pdfgerKIT Scientific PublishingBewegungsregelungModel predictive controlMobile manipulationRobóticaInteracción hombre-robotDispositivos hápticosBewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver RegelungAbierto (Texto Completo)https://creativecommons.org/licenses/by-sa/4.0/http://purl.org/coar/access_right/c_abf2http://purl.org/coar/resource_type/c_2f33Zube, AngelikaORIGINAL978-3-7315-0855-7.pdf978-3-7315-0855-7.pdfVer documentoapplication/pdf44216044https://expeditiorepositorio.utadeo.edu.co/bitstream/20.500.12010/17589/1/978-3-7315-0855-7.pdf4e2aa59d58505337787f05a3d42e8e85MD51open accessLICENSElicense.txtlicense.txttext/plain; charset=utf-82938https://expeditiorepositorio.utadeo.edu.co/bitstream/20.500.12010/17589/2/license.txtabceeb1c943c50d3343516f9dbfc110fMD52open accessTHUMBNAIL978-3-7315-0855-7.pdf.jpg978-3-7315-0855-7.pdf.jpgIM Thumbnailimage/jpeg15746https://expeditiorepositorio.utadeo.edu.co/bitstream/20.500.12010/17589/3/978-3-7315-0855-7.pdf.jpg7b36eaac55f8c44e688af714a40048d7MD53open access20.500.12010/17589oai:expeditiorepositorio.utadeo.edu.co:20.500.12010/175892021-02-22 14:26:17.532open accessRepositorio Institucional - Universidad Jorge Tadeo Lozanoexpeditio@utadeo.edu.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

Publicaciones similares