TY - BOOK ID - 100587454 TI - Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung PY - 2018 SN - 1000086157 3731508559 PB - KIT Scientific Publishing DB - UniCat KW - Bewegungsregelung KW - model predictive control KW - mobile manipulation KW - motion control KW - Mensch-Roboter-Interaktion KW - modellprädiktive Regelung KW - Arbeitsraumüberwachung KW - human-robot-interaction KW - mobile Manipulation KW - workspace monitoring UR - https://www.unicat.be/uniCat?func=search&query=sysid:100587454 AB - 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. ER -