{"id":32757,"date":"1997-01-01T00:00:00","date_gmt":"1997-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/razonamiento-geometrico-basado-en-vision-para-la-determinacion-y-ejecucion-del-agarre-de-robots-manipuladores\/"},"modified":"1997-01-01T00:00:00","modified_gmt":"1997-01-01T00:00:00","slug":"razonamiento-geometrico-basado-en-vision-para-la-determinacion-y-ejecucion-del-agarre-de-robots-manipuladores","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/razonamiento-geometrico-basado-en-vision-para-la-determinacion-y-ejecucion-del-agarre-de-robots-manipuladores\/","title":{"rendered":"Razonamiento geometrico basado en vision para la determinacion y ejecucion del agarre de robots manipuladores."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Pedro Jos\u00e9 Sanz Valero <\/strong><\/h2>\n<p>El objetivo central de la tesis aqui presentada ha sido demostrar la viabilidad de un sistema completo para la determinacion y ejecucion del agarre en robots manipuladores mediante razonamiento geometrico basado en vision. Dicho sistema actua en un entorno real, demostrando robustez, eficacia y economia de medios, haciendo uso del principio \u00abpercepcion-razonamiento-accion\u00bb inherente a la investigacion en el campo de la robotica inteligente.  en sintesis, se presenta un sistema capaz de coordinar una pinza de dedos planoparalelos y un sistema de vision con el objetivo de determinar puntos de agarre, con existencia de rozamiento, bajo condiciones de estabilidad, y la subsiguiente ejecucion del mismo. La eleccion de puntos de agarre se realiza mediante una nueva heuristica que trata de manejar todo tipo de objetos planos con centroide exterior o interior, permitiendo agujeros, concavidades, etc. Solo se requieren dos caracteristicas basadas en los momentos, centroide y direccion del eje principal, obtenidos a partir de una representacion del codigo de cadena de freeman del contorno. Los resultados son parametros visuales exclusivamente, expresados en coordenadas visuales (pixeles).  los algoritmos desarrollados se han implementado en un robot manipulador con 4 gdl y fijando una camara ccd en su mu\u00f1eca. El sistema de control utiliza realimentacion visual, consiguiendo incrementar la precision hasta el limite del sistema de vision utilizado.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Razonamiento geometrico basado en vision para la determinacion y ejecucion del agarre de robots manipuladores.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Razonamiento geometrico basado en vision para la determinacion y ejecucion del agarre de robots manipuladores. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Pedro Jos\u00e9 Sanz Valero <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Jaume i de castell\u00f3n<\/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> Pobil Ferre Angel Pascual Del<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Fernando Romero Subiron <\/li>\n<li>Juan Llovet Verdugo (vocal)<\/li>\n<li>Miguel Angel Serna Oliveira (vocal)<\/li>\n<li>Jos\u00e9 Alberto Ja\u00e9n Gallego (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Pedro Jos\u00e9 Sanz Valero El objetivo central de la tesis aqui presentada ha sido demostrar la viabilidad [&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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