{"id":135996,"date":"1997-01-01T00:00:00","date_gmt":"1997-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/control-multivariable-en-el-dominio-de-la-frecuencia-de-robots-rigidos-y-flexibles\/"},"modified":"1997-01-01T00:00:00","modified_gmt":"1997-01-01T00:00:00","slug":"control-multivariable-en-el-dominio-de-la-frecuencia-de-robots-rigidos-y-flexibles","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/control-multivariable-en-el-dominio-de-la-frecuencia-de-robots-rigidos-y-flexibles\/","title":{"rendered":"Control multivariable en el dominio de la frecuencia de robots rigidos y flexibles."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Gerardo Fernandez Lopez <\/strong><\/h2>\n<p>En este trabajo se presenta un conjunto de resultados al aplicar las tecnicas de control multivariable en el dominio de la frecuencia al control de robots. Se lleva a cabo un analisis de interaccion en robots rigidos para toda una gama de manipuladores; se propone el empleo de una figura de merito definida por la dominancia diagonal por columnas de la matriz de funciones de transferencia.  se presentan aplicaciones del dise\u00f1o de precompensadores y de control desacoplado al caso de un manipulador antropomorfo y al caso del robur. En cuanto a los robots flexibles, se presenta una aplicacion experimental en el caso de un manipulador flexible 1d. Se prueba un esquema de control, basado en el jacobiano del pseudoenlace rigido del manipulador. Se propone otro esquema de control, que se comprueba sobre los manipuladores flexibles 1d y 2d, basado en el seguimiento del angulo del pseudoenlace al angulo de articulacion real. Se dise\u00f1an precompensadores que alcanzan la dominancia diagonal de un manipulador hibrido rigido-flexible y se encuentra una programacion de ganancias que extiende la dominancia diagonal a todo el espacio de trabajo del manipulador. Se aborda el problema de control de un manipulador flexible 2d y se resuelve el problema de incluir la friccion de forma distribuida. Se dise\u00f1a un precompensador dinamico que logra la dominancia diagonal sobre todo el espacio de trabajo del manipulador.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Control multivariable en el dominio de la frecuencia de robots rigidos y flexibles.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Control multivariable en el dominio de la frecuencia de robots rigidos y flexibles. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Gerardo Fernandez Lopez <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Valladolid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 01\/01\/1997<\/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>Manuel Angel Armada Rodriguez<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Jos\u00e9 Antonio Cordero Martin <\/li>\n<li>Valentin Carde\u00f1oso Payo (vocal)<\/li>\n<li>Eladio Sanz Garcia (vocal)<\/li>\n<li>Juli\u00e1n Florez Esnal (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Gerardo Fernandez Lopez En este trabajo se presenta un conjunto de resultados al aplicar las tecnicas de [&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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