{"id":145995,"date":"1993-01-01T00:00:00","date_gmt":"1993-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/control-de-robots-flexibles\/"},"modified":"1993-01-01T00:00:00","modified_gmt":"1993-01-01T00:00:00","slug":"control-de-robots-flexibles","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/control-de-robots-flexibles\/","title":{"rendered":"Control de robots flexibles."},"content":{"rendered":"<h2>Tesis doctoral de <strong>  Lopez Linares Larrucea Santiago <\/strong><\/h2>\n<p>En comparacion con los robots rigidos, los robots flexibles presentan ecuaciones dinamicas mas complejas, mayor numero de grados de libertad que actuadores y propiedades de fase no-minima. En esta tesis se han desarrollado dos nuevos metodos para su control:  1) el metodo generalizado lq (mglq) derivado del control optimo de sistemas lineales.  2) el metodo de proyeccion de la fuerza de desacoplamiento (mpfd) que generaliza el metodo del momento computado aplicado en robots rigidos.  ambos utilizan, para conseguir un seguimiento de trayectoria suave, un esquema de \u00abfeedforward\u00bb + \u00abfeedback\u00bb, cuyo movimiento de referencia es la solucion nocausal del problema dinamico y cinematico inverso.  como ejemplos, se han estudiado: un robot flexible de un miembro (experimentalmente) y un robot flexible de dos miembros (por simulacion), obteniendose en ambos excelentes resultados de control.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Control de robots flexibles.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Control de robots flexibles. <\/li>\n<li><strong>Autor:<\/strong>\u00a0  Lopez Linares Larrucea Santiago <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Navarra<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 01\/01\/1993<\/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>Miguel Angel Serna Oliveira<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Jos\u00e9 Mar\u00eda Bastero De Eleizalde <\/li>\n<li>Antonio Vizan Idoipe (vocal)<\/li>\n<li>Jos\u00e9 Antonio Cordero Martin (vocal)<\/li>\n<li>Justino Fernandez Diaz (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Lopez Linares Larrucea Santiago En comparacion con los robots rigidos, los robots flexibles presentan ecuaciones dinamicas mas [&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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