UID:
almafu_9959145944402883
Umfang:
1 electronic resource (XXVI, 176 p. p.)
ISBN:
1000086157
Serie:
Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe
Inhalt:
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.
Anmerkung:
German
Weitere Ausg.:
ISBN 3-7315-0855-9
Sprache:
Deutsch
