{"id":18054,"date":"2002-03-07T00:00:00","date_gmt":"2002-03-07T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/planificacion-local-basada-en-sensores-para-un-manipulador-movil-en-tareas-de-colaboracion-con-humanos\/"},"modified":"2002-03-07T00:00:00","modified_gmt":"2002-03-07T00:00:00","slug":"planificacion-local-basada-en-sensores-para-un-manipulador-movil-en-tareas-de-colaboracion-con-humanos","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/planificacion-local-basada-en-sensores-para-un-manipulador-movil-en-tareas-de-colaboracion-con-humanos\/","title":{"rendered":"Planificaci\u00f3n local basada en sensores para un manipulador m\u00f3vil en tareas de colaboraci\u00f3n con humanos"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Mar\u00eda  Dolores Blanco Rojas <\/strong><\/h2>\n<p>Se propone una estrategia para dotar al manipulador m\u00f3vil de una habilidad que le permita evitar los obst\u00e1culos que se presenten en su camino, bas\u00e1ndose en la informaci\u00f3n del entorno proporcionada por un tel\u00e9metro laser. Se ha optado por un modelo \u00fanico del entrono, el diagrama de voronoi local, construido a partir de los datos sensoriales, que se utiliza por igual en los m\u00f3dulos de planificaci\u00f3n y localizaci\u00f3n. El algoritmo propuesto puede utilizarse en l\u00ednea para construir el dvl de una zona restringida del entorno alrededor de la posici\u00f3n actual del robot. Los algoritmos desarrollados son aplicables a un considerable n\u00famero de sistemas. Se ha comprobado su funcionamiento en una serie de experimentos cuyos resultados quedan recogidos a lo largo del trabajo. Se presentan las adaptaciones de los algoritmos desarrollados para su integraci\u00f3n en el sistema de control de un manipulador m\u00f3vil. Teniendo como objetivo la colaboraci\u00f3n del sistema con operarios humanos en tareas de transportes de piezas, el planificador de trayectorias locales se conecta directamente con el m\u00f3dulo de control cinem\u00e1tica coordinado y el bucle de control de impedancia, previamente dise\u00f1ados. A su vez, la realimentaci\u00f3n de la se\u00f1al de fuerza en el m\u00f3dulo de planificaci\u00f3n permite estimar la direcci\u00f3n del movimiento del operario. Con esta informaci\u00f3n el planificador escoge, si es posible, aquella trayectoria local libre de obst\u00e1culos que m\u00e1s se adecue al movimiento del operario.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Planificaci\u00f3n local basada en sensores para un manipulador m\u00f3vil en tareas de colaboraci\u00f3n con humanos<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Planificaci\u00f3n local basada en sensores para un manipulador m\u00f3vil en tareas de colaboraci\u00f3n con humanos <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Mar\u00eda  Dolores Blanco Rojas <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Carlos III de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 03\/07\/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>Luis Moreno Lorente<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Carlos Balaguer bernaldo de quir\u00f3s <\/li>\n<li>ernesto Gambao gal\u00e1n (vocal)<\/li>\n<li>Miguel \u00e1ngel Salichs s\u00e1nchez-caballero (vocal)<\/li>\n<li>ram\u00f3n Ceres ruiz (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Mar\u00eda Dolores Blanco Rojas Se propone una estrategia para dotar al manipulador m\u00f3vil de una habilidad que [&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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