{"id":105671,"date":"2018-03-11T10:29:19","date_gmt":"2018-03-11T10:29:19","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/desarrollo-implementacion-y-evaluacion-de-estrategias-de-control-servo-visual-para-robots-paralelos-aplicacion-a-la-plataforma-robotenis\/"},"modified":"2018-03-11T10:29:19","modified_gmt":"2018-03-11T10:29:19","slug":"desarrollo-implementacion-y-evaluacion-de-estrategias-de-control-servo-visual-para-robots-paralelos-aplicacion-a-la-plataforma-robotenis","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/robotica\/desarrollo-implementacion-y-evaluacion-de-estrategias-de-control-servo-visual-para-robots-paralelos-aplicacion-a-la-plataforma-robotenis\/","title":{"rendered":"Desarrollo, implementaci\u00f3n y evaluaci\u00f3n de estrategias de control servo visual para robots paralelos: aplicaci\u00f3n a la plataforma robotenis"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Alberto Traslosheros Michel <\/strong><\/h2>\n<p>Los sistemas rob\u00f3ticos en cuyo lazo de control se incorpora informaci\u00f3n visual, para un funcionamiento confiable requieren del dise\u00f1o y buen desempe\u00f1o de varios procesos y tareas adicionales. En la presente tesis se estudian dise\u00f1an e implementan diferentes algoritmos y m\u00e9todos encaminados a lograr un mejorar el desempe\u00f1o de un sistema experimental de control visual y basado en posici\u00f3n. Los diferentes cap\u00edtulos aqu\u00ed mostrados tocan tem\u00e1ticas, en las que con el objetivo de probar su interacci\u00f3n y aportes particulares en el comportamiento del sistema, se plantea una prueba definitiva consistente en golpear, contra una pared, una pelota colgada de un hilo. para lograr lo anterior se plantearon distintos retos, entre los que se cuentan: mantener la pelota en el campo de visi\u00f3n, actuar en caso de oclusiones, proteger al sistema de saturaciones, singularidades o salirse de su espacio de trabajo, entre otros. Para esto fue necesario el estudio del sistema y el dise\u00f1o de algoritmos como: un algoritmo de calibraci\u00f3n cinem\u00e1tica, que es dise\u00f1ado utilizando los mismos recursos del sistema original, algoritmos de control servo visual, algoritmos de control visual para seguimiento, algoritmos que contemplan el golpeo y acci\u00f3n sobre la pelota, entre otros. Adicionalmente para un correcto funcionamiento y protecci\u00f3n de los elementos del sistema se dise\u00f1\u00f3 un planificador de trayectorias, este \u00faltimo directamente vinculado con las tareas de seguimiento.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Desarrollo, implementaci\u00f3n y evaluaci\u00f3n de estrategias de control servo visual para robots paralelos: aplicaci\u00f3n a la plataforma robotenis<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Desarrollo, implementaci\u00f3n y evaluaci\u00f3n de estrategias de control servo visual para robots paralelos: aplicaci\u00f3n a la plataforma robotenis <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Alberto Traslosheros Michel <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 14\/12\/2010<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Jos\u00e9 Mar\u00eda Sebasti\u00e1n Y Z\u00fa\u00f1iga<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: rafael Aracil santonja <\/li>\n<li>enrique Alegre gutierrez (vocal)<\/li>\n<li>Jorge Pomares baeza (vocal)<\/li>\n<li>Fernando Torres medina (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Alberto Traslosheros Michel Los sistemas rob\u00f3ticos en cuyo lazo de control se incorpora informaci\u00f3n visual, para un [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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