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Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung

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Book Series: Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe ISSN: 18636489 ISBN: 9783731508557 Year: Volume: 39 Pages: XXVI, 176 p. DOI: 10.5445/KSP/1000086157 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-28 18:37:01
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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.

ISA: Immissionsschutz beim Abbruch - Minimierung von Umweltbelastungen (Lärm, Staub, Erschütterungen) beim Abbruch von Hoch-/Tiefbauten und Schaffung hochwertiger Recyclingmöglichkeiten für Materialien aus Gebäudeabbruch

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Book Series: Produktion und Energie / Karlsruher Institut für Technologie, Institut für Industriebetriebslehre und industrielle Produktion u. Deutsch-Französisches Institut für Umweltforschung ISSN: 21942404 ISBN: 9783731505341 Year: Volume: 16 Pages: XVIII, 334 p. DOI: 10.5445/KSP/1000055155 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Business and Management
Added to DOAB on : 2019-07-28 18:37:01
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Abstract

Following three instruments for the integration of an efficient immission control in the planning of deconstruction and demolition activities have been developped : - a database including economical, ecological and technical data for the planning of deconstruction and demolition processes, - a planning support tool tested on site in the frame of demolition and deconstruction projects, - a prototypical immission measuring system for a permanent immission control.

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2018 (2)