{"id":35896,"date":"1998-01-01T00:00:00","date_gmt":"1998-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/control-de-posicion-fuerza-de-estructuras-mecanicas-flexibles\/"},"modified":"1998-01-01T00:00:00","modified_gmt":"1998-01-01T00:00:00","slug":"control-de-posicion-fuerza-de-estructuras-mecanicas-flexibles","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/control-de-posicion-fuerza-de-estructuras-mecanicas-flexibles\/","title":{"rendered":"Control de posicion\/fuerza de estructuras mecanicas flexibles."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Javier Hern\u00e1ndez Viz\u00e1n <\/strong><\/h2>\n<p>En este trabajo se estudian t\u00e9cnicas de control de posici\u00f3n\/fuerza adaptadas al caso de manipuladores flexibles. Se ha usado una estructura rob\u00f3tica (el led-3) con dos brazos concatenados que se mueven en el plano horizontal: el primero r\u00edgido y el segundo flexible. Se han obtenido modelos del led-3 aplicando t\u00e9cnicas de identificaci\u00f3n y m\u00e9todos bond-graph. A partir de estos \u00faltimos se han linealizado modelos continuos.  t\u00e9cnicas de control (se presentan resultados experimentales):  el control de impedancia dota al manipulador de una relaci\u00f3n din\u00e1mica, predise\u00f1ada, entre las variables de posici\u00f3n y las de fuerza. Su aplicaci\u00f3n a una estructura flexible obliga a resolver los problemas de la presencia de fricciones y de din\u00e1micas oscilatorias.  el c. H\u00edbrido plantea una estructura paralela de lazos de control de posici\u00f3n y de fuerza. Se ha aplicado con tres algoritmos de control lineal que permiten especificar caracter\u00edsticas de robustez de estabilidad y prestaciones: asignacion de polos, c. Predictivo y c.  robusto h-infinito.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Control de posicion\/fuerza de estructuras mecanicas flexibles.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Control de posicion\/fuerza de estructuras mecanicas flexibles. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Javier Hern\u00e1ndez Viz\u00e1n <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Valladolid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 01\/01\/1998<\/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> Prada Moraga Cesar De<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Jos\u00e9 Ram\u00f3n Per\u00e1n Gonz\u00e1lez <\/li>\n<li> De No Sanchez De Leon Jos\u00e9 (vocal)<\/li>\n<li>Eduardo Fernandez Camacho (vocal)<\/li>\n<li>Joseba Landaluze Moraza (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Javier Hern\u00e1ndez Viz\u00e1n En este trabajo se estudian t\u00e9cnicas de control de posici\u00f3n\/fuerza adaptadas al caso 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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