{"id":112275,"date":"2018-03-11T10:39:09","date_gmt":"2018-03-11T10:39:09","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/haptic-guidance-based-on-harmonic-functions-path-planning-for-the-teleoperation-of-robotic-tasks\/"},"modified":"2018-03-11T10:39:09","modified_gmt":"2018-03-11T10:39:09","slug":"haptic-guidance-based-on-harmonic-functions-path-planning-for-the-teleoperation-of-robotic-tasks","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/inteligencia-artificial\/haptic-guidance-based-on-harmonic-functions-path-planning-for-the-teleoperation-of-robotic-tasks\/","title":{"rendered":"Haptic guidance based on harmonic functions path planning for the teleoperation of robotic tasks"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Carlos V\u00e1zquez Hurtado <\/strong><\/h2>\n<p>Los m\u00e9todos de planificaci\u00f3n de trayectorias han sido ampliamente utilizados en la ejecuci\u00f3n autom\u00e1tica de tareas robotizadas. El guiado h\u00e1ptico es una herramienta muy poderosa para la rehabilitaci\u00f3n de personas, para la adquisici\u00f3n de habilidades artesanales y todo tipo de tareas enactivas. En esta tesis se presentan distintas t\u00e9cnicas para conseguir movimientos guiados h\u00e1pticamente mediante la combinaci\u00f3n eficiente de m\u00e9todos de planificaci\u00f3n de movimientos y guiado h\u00e1ptico.  la mayor contribuci\u00f3n de esta tesis es el desarrollo de una metodolog\u00eda confiable para guiar a un usuario en la teleoperaci\u00f3n de una tarea robotizada real o virtual. La discusi\u00f3n se basa en la generaci\u00f3n de trayectorias libres de colisiones en ambientes virtuales para realizar el guiado h\u00e1ptico, sin embargo, estos resultados pueden ser extendidos a la teleoperaci\u00f3n de robots reales, como se discute en la secci\u00f3n de resultados.  la tarea de guiado consiste b\u00e1sicamente de dos etapas: la primera, en donde se obtiene una trayectoria libre de colisiones, utilizando un planificador de movimientos basado en muestreo determinista, descomposici\u00f3n jer\u00e1rquica de celdas y funciones harm\u00f3nicas y, la segunda, en donde se realiza el guiado h\u00e1ptico a trav\u00e9s de primitivas h\u00e1pticas, para la tarea robotizada que puede ser real o virtual. El conjunto ofrece un sistema completo y confiable de guiado en la ejecuci\u00f3n de tareas robotizadas.  entre las ventajas del sistema se pueden mencionar: 1) se tiene un sistema virtual que facilita el entrenamiento del usuario 2) las trayectorias no est\u00e1n predefinidas, sino que se obtienen conforme el usuario se navega en la escena 3) dado que el guiado h\u00e1ptico se realiza con primitivas, el sistema propuesto puede ser utilizado en cualquier dispositivo h\u00e1ptico, 4) el guiado h\u00e1ptico depende de la configuraci\u00f3n actual del usuario, la cual es registrada con herramientas para sistemas de eventos discretos, el guiado puede ser entonces interrumpido y reanudado sin restricciones de tiempo.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Haptic guidance based on harmonic functions path planning for the teleoperation of robotic tasks<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Haptic guidance based on harmonic functions path planning for the teleoperation of robotic tasks <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Carlos V\u00e1zquez Hurtado <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de catalunya<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 27\/01\/2012<\/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>Joan Rosell Gratac\u00f3s<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Luis Bas\u00e1\u00f1ez villaluenga <\/li>\n<li>alfonso Jos\u00e9 Garcia cerezo (vocal)<\/li>\n<li>Emilio Jos\u00e9 Sanchez tapia (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 Carlos V\u00e1zquez Hurtado Los m\u00e9todos de planificaci\u00f3n de trayectorias han sido ampliamente utilizados en la ejecuci\u00f3n autom\u00e1tica [&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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