Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung
Abstract
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.
Keywords
Bewegungsregelung; model predictive control; mobile manipulation; motion control; Mensch-Roboter-Interaktion; modellprädiktive Regelung; Arbeitsraumüberwachung; human-robot-interaction; mobile Manipulation; workspace monitoringISBN
9783731508557Publisher
KIT Scientific PublishingPublisher website
http://www.ksp.kit.edu/Publication date and place
2018Series
Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe,Classification
Computer science