{"id":17245,"date":"2002-05-06T00:00:00","date_gmt":"2002-05-06T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/modelado-simulacion-y-control-de-movimiento-de-robots-paralelos-trepadores\/"},"modified":"2002-05-06T00:00:00","modified_gmt":"2002-05-06T00:00:00","slug":"modelado-simulacion-y-control-de-movimiento-de-robots-paralelos-trepadores","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/modelado-simulacion-y-control-de-movimiento-de-robots-paralelos-trepadores\/","title":{"rendered":"Modelado, simulaci\u00f3n y control de movimiento de robots paralelos trepadores"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Miguel Almonacid Kroeger <\/strong><\/h2>\n<p>Esta tesis se ha dedicado al estudio, modelado, simulaci\u00f3n y control de movimiento de robots paralelos de 6-gdl, utilizados como robots trepadores. para llevar a cabo la idea de usar la plataforma de stewart como robot m\u00f3vil, se han desarrollado herramientas computacionales basadas en la din\u00e1mica multicuerpo. Estas herramientas conforman el marco b\u00e1sico para el an\u00e1lisis cinem\u00e1tico y din\u00e1mico de esta nueva aplicaci\u00f3n rob\u00f3tica. Y su vez, han permitido la investigaci\u00f3n y el desarrollo de algoritmos de control cinem\u00e1tico de forma que el robot sea capaz de trepar, bas\u00e1ndose en informaci\u00f3n sensorial, por estructuras cil\u00edndricas alargadas que describen trayectorias espaciales desconocidas. El complejo problema de las m\u00faltiples soluciones de la cinem\u00e1tica directa se ha resuelto mediante m\u00e9todos num\u00e9ricos, consigui\u00e9ndose una \u00fanica soluci\u00f3n, condici\u00f3n necesaria para la planificaci\u00f3n de trayectorias y el control de movimiento en tiempo real. El modelado din\u00e1mico de los robots paralelos, inclyendo la din\u00e1mica del sistema de actuaci\u00f3n, ha sido esencial para la simulaci\u00f3n, an\u00e1lisis e investigaci\u00f3n en el control de robots paralelos con actuaci\u00f3n neum\u00e1tica. Como caso pr\u00e1ctico de simulaci\u00f3n se ha sintonizado un regulador pid convencional y se ha analizado el seguimiento del robot para una trayectoria dada por el algoritmo de planificaci\u00f3n. Los resultados de esta tesis han contribuido al desarrollo de un prototipo de robot paralelo trepador para su aplicaci\u00f3n en el mantenimiento de palmeras (poda, fumigaci\u00f3n, germinaci\u00f3n). Las aportaciones se han reflejado en varias fases del desarrollo del prototipo. Particularmente, han sido relevantes las contribuciones realizadas durante el an\u00e1lisis cinem\u00e1tico y din\u00e1mico del robot en la fase de dise\u00f1o. De la misma forma, el modelo computacional del sistema de control ha permitido contrastar las hip\u00f3tesis te\u00f3ricas, din\u00e1micas y de control, con los resultados experimentales. Esto<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Modelado, simulaci\u00f3n y control de movimiento de robots paralelos trepadores<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Modelado, simulaci\u00f3n y control de movimiento de robots paralelos trepadores <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Miguel Almonacid Kroeger <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Miguel hern\u00e1ndez de elche<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 05\/06\/2002<\/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> Saltaren Pazmi\u00f1o Roque J.<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Juan Lopez coronado <\/li>\n<li>claude Samson (vocal)<\/li>\n<li>Carlos Balaguer bernaldo de quir\u00f3s (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 Miguel Almonacid Kroeger Esta tesis se ha dedicado al estudio, modelado, simulaci\u00f3n y control de movimiento 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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