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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.

Mensch-Roboter-Interaktion, mobile Manipulation, Bewegungsregelung, modellprädiktive Regelung, Arbeitsraumüberwachung,human-robot-interaction, mobile manipulation, motion control, model predictive control, workspace monitoring

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This academic catalogue provides access for the first time to the medieval manuscripts and fragments preserved in the Benedictine Convent of Nonnberg in Salzburg: 108 manuscripts and 125 fragments from the early 9th to the middle of the 16th century.

History of library, Religious vernacular literature, Liturgical manuscripts, Prayer books, History of religiousness --- Bibliotheksgeschichte, Religiöse volkssprachliche Literatur, Liturgische Handschriften, Gebetbücher, Frömmigkeitsgeschichte --- History of library --- Religious vernacular literature --- Liturgical manuscripts --- Prayer books --- History of religiousness --- Bibliotheksgeschichte --- Religiöse volkssprachliche Literatur --- Liturgische Handschriften --- Gebetbücher --- Frömmigkeitsgeschichte --- Gott --- Jesus Christus --- Mensch --- München --- Pergament --- Stift Sankt Peter (Salzburg) --- Tinte