{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,14]],"date-time":"2025-05-14T04:47:25Z","timestamp":1747198045328,"version":"3.40.5"},"reference-count":31,"publisher":"Walter de Gruyter GmbH","issue":"1","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2020,1,28]]},"abstract":"<jats:title>Zusammenfassung<\/jats:title>\n               <jats:p>Kollaborative Roboter halten immer mehr Einzug in der Industrie und enge Zusammenarbeit zwischen Mensch und Roboter wird eine zunehmend wichtige Komponente von modernen Produktionsprozessen. Pfadfolgeregelungskonzepte schr\u00e4nken die Roboterbewegung auf einen geometrischen Pfad im Raum ein und stellen damit einen systematischen Ansatz f\u00fcr die Entwicklung sicherer Mensch-Roboter-Interaktionen dar.<\/jats:p>\n               <jats:p>In dieser Arbeit werden vier Konzepte vorgestellt, welche die Bewegung entlang des Pfades an Systemgr\u00f6\u00dfen bzw. exogene Einfl\u00fcsse koppeln: autonomer Modus, kollaborativer Modus, kooperativer Modus und Gestensteuerung. Weiters werden die Reglerparameter an den Pfadfortschritt gekn\u00fcpft, wordurch das Impedanzverhalten des Roboters entlang des Pfades variiert werden kann. Die Konzepte werden an einem Assemblierungsszenario mit dem Leichtbauroboter <jats:sc>Kuka<\/jats:sc> LBR iiwa 14 R820 demonstriert.<\/jats:p>","DOI":"10.1515\/auto-2019-0114","type":"journal-article","created":{"date-parts":[[2019,12,21]],"date-time":"2019-12-21T09:04:45Z","timestamp":1576919085000},"page":"44-57","source":"Crossref","is-referenced-by-count":0,"title":["Pfadfolgeregelung mit Konzepten f\u00fcr den Pfadfortschritt: Ein Assemblierungsszenario"],"prefix":"10.1515","volume":"68","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3054-9435","authenticated-orcid":false,"given":"Christian","family":"Hartl-Nesic","sequence":"first","affiliation":[{"name":"ACIN, Institut f\u00fcr Automatisierungs- und Regelungstechnik , TU Wien , Wien , \u00d6sterreich"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bernhard","family":"Bischof","sequence":"additional","affiliation":[{"name":"Center for Vision, Automation & Control , AIT Austrian Institute of Technology , Wien , \u00d6sterreich"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tobias","family":"Gl\u00fcck","sequence":"additional","affiliation":[{"name":"Center for Vision, Automation & Control , AIT Austrian Institute of Technology , Wien , \u00d6sterreich"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Andreas","family":"Kugi","sequence":"additional","affiliation":[{"name":"ACIN, Institut f\u00fcr Automatisierungs- und Regelungstechnik , TU Wien , Wien , \u00d6sterreich"},{"name":"Center for Vision, Automation & Control , AIT Austrian Institute of Technology , Wien , \u00d6sterreich"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"374","published-online":{"date-parts":[[2019,12,21]]},"reference":[{"key":"2021062112572137424_j_auto-2019-0114_ref_001_w2aab3b7d756b1b6b1ab2b1b1Aa","doi-asserted-by":"crossref","unstructured":"B. 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