{"id":131537,"date":"1996-01-01T00:00:00","date_gmt":"1996-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/modelado-y-control-de-la-flexion-de-robots-de-grandes-dimensiones\/"},"modified":"1996-01-01T00:00:00","modified_gmt":"1996-01-01T00:00:00","slug":"modelado-y-control-de-la-flexion-de-robots-de-grandes-dimensiones","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/modelado-y-control-de-la-flexion-de-robots-de-grandes-dimensiones\/","title":{"rendered":"Modelado y control de la flexion de robots de grandes dimensiones."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Hortensia Amaris Duarte <\/strong><\/h2>\n<p>La utilizacion de robots de estructuras ligeras y grandes dimensiones, capaces de manejar grandes cargas y con unos requisitos de velocidad importantes, ha originado la necesidad de considerar el comportamiento elastico de su estructura en sus sistemas de control. Los efectos dinamicos (vibraciones) y estaticos (flexion en el extremo) de esta elasticidad son considerables siendo necesario establecer sistemas que minimicen la amplitud de las vibraciones y el valor de la flecha en su extremo.  en esta tesis se aborda este estudio presentando una estructura de control global que permite realizar de forma independiente la correccion de la flexion estatica que se produce en una determinada configuracion del robot y el amortiguamiento de las vibraciones dinamicas que se generen en el movimiento del robot. Se han desarrollado los modelos analiticos dinamicos y estaticos que permiten estimar estas vibraciones y las flexiones estaticas y dise\u00f1ar consecuentemente los algoritmos de control. Los modelos se han desarrollado para robots flexibles con una unica articulacion asi como para robots multiarticulados que poseen articulaciones giratorias y prismaticas. Este analisis se ha completado con ejemplos que permiten simular el comportamiento dinamico del robot, asi como el comportamiento estatico, estudiandose el comportamiento no lineal del robot ante cambios de su configuracion, variaciones de la carga en el extremo etc.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Modelado y control de la flexion de robots de grandes dimensiones.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Modelado y control de la flexion de robots de grandes dimensiones. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Hortensia Amaris Duarte <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 01\/01\/1996<\/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>Antonio Barrientos Cruz<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Eugenio Andr\u00e9s Puente <\/li>\n<li>Enrique Alarcon Alvarez (vocal)<\/li>\n<li> Garcia De Jalon Javier (vocal)<\/li>\n<li>  (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Hortensia Amaris Duarte La utilizacion de robots de estructuras ligeras y grandes dimensiones, capaces de manejar grandes [&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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