{"id":3956,"date":"1994-01-01T00:00:00","date_gmt":"1994-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/1994\/01\/01\/planificacion-automatica-de-trayectorias-libres-de-colision-para-robots-en-entornos-3d\/"},"modified":"1994-01-01T00:00:00","modified_gmt":"1994-01-01T00:00:00","slug":"planificacion-automatica-de-trayectorias-libres-de-colision-para-robots-en-entornos-3d","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/planificacion-automatica-de-trayectorias-libres-de-colision-para-robots-en-entornos-3d\/","title":{"rendered":"Planificacion automatica de trayectorias libres de colision para robots en entornos 3d."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Francisco Jose Rodriguez Urbano <\/strong><\/h2>\n<p>La realizacion de tareas en entornos 3d complejos, mediante el uso de robots, presenta como problema clave la planificacion de trayectorias libres de colision. Este problema consiste en encontrar una serie de configuraciones intermedias para un robot, de forma que este se mueva de un punto inicial a un punto final, evitando las posibles colisiones, no solo con los obstaculos del entorno, sino tambien con el propio robot y la pieza que este transporta durante algunas fases de la tarea.  en esta tesis se presenta el desarrollo e implementacion de un entorno de programacion para la planificacion y generacion automatica de tryayectorias libres de colision de robots articulares de hasta seis grados de libertad, en entornos 3d modelados por poliedros rectos. Los paquetes desarrollados han sido implementados y verificados en varios robots reales, y aplicados a la resolucion de tareas complejas como el transporte de piezas de grandes dimensiones.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Planificacion automatica de trayectorias libres de colision para robots en entornos 3d.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Planificacion automatica de trayectorias libres de colision para robots en entornos 3d. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Francisco Jose Rodriguez Urbano <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 01\/01\/1994<\/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>Carlos Balaguer Bernaldo De Quir\u00f3s<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Eugenio Andr\u00e9s Puente <\/li>\n<li>Anibal Ollero Baturone (vocal)<\/li>\n<li>Luis Basa\u00f1ez Villanueva (vocal)<\/li>\n<li> De No Sanchez De Leon Jos\u00e9 (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Francisco Jose Rodriguez Urbano La realizacion de tareas en entornos 3d complejos, mediante el uso de robots, [&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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