{"id":40505,"date":"1999-01-01T00:00:00","date_gmt":"1999-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/tecnicas-de-resolucion-del-problema-de-posicion-inverso-en-manipuladores-con-pares-prismaticos-y-de-revolucion\/"},"modified":"1999-01-01T00:00:00","modified_gmt":"1999-01-01T00:00:00","slug":"tecnicas-de-resolucion-del-problema-de-posicion-inverso-en-manipuladores-con-pares-prismaticos-y-de-revolucion","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/tecnicas-de-resolucion-del-problema-de-posicion-inverso-en-manipuladores-con-pares-prismaticos-y-de-revolucion\/","title":{"rendered":"Tecnicas de resolucion del problema de posicion inverso en manipuladores con pares prismaticos y de revolucion."},"content":{"rendered":"<h2>Tesis doctoral de <strong>  Martinez Fernandez Teodoro Ildefonso <\/strong><\/h2>\n<p>El objetivo de este trabajo se centra en aplicar la t\u00e9cnica de eliminaci\u00f3n a la resoluci\u00f3n del problema de posici\u00f3n inverso en robots de seis grados de libertad de geometr\u00eda general. Dicho problema conduce a un sistema de ecuaciones algebraicas no lineales de gran complejidad, del que no se conoce ning\u00fan procedimiento anal\u00edtico de resoluci\u00f3n. La t\u00e9cnica utilizada, que permite obtener todas las soluciones, consiste b\u00e1sicamente en eliminar sucesivamente de forma lineal grupos de variables hasta obtener una ecuaci\u00f3n \u00fanicamente para una de ellas, en forma de un determinante igualado a cero, cuyo desarrollo, para el caso de una manipulador con seis pares de revoluci\u00f3n, conduce a un polinomio de grado 16. Las dem\u00e1s variables se obtienen entonces linealmente. En este trabajo, mediante c\u00e1lculo simb\u00f3lico, se han obtenido las expresiones expl\u00edcitas de la matriz cuyo determinante genera el polinomio. As\u00ed mismo, se ha efectuado una clasificaci\u00f3n, considerando que cada dos pares consecutivos sean paralelos o no, desarroll\u00e1ndose procedimientos simb\u00f3licos originales para el estudio de los diferentes tipos. finalmente, sobre estos resultados se ha desarrollado un programa n\u00famerico que resuelve con la m\u00e1xima rapidez el problema, que se ha aplicado a varios ejemplos, algunos encontrados en la bibliograf\u00eda obteniendo resultados coincidentes y otros originales..<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Tecnicas de resolucion del problema de posicion inverso en manipuladores con pares prismaticos y de revolucion.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Tecnicas de resolucion del problema de posicion inverso en manipuladores con pares prismaticos y de revolucion. <\/li>\n<li><strong>Autor:<\/strong>\u00a0  Martinez Fernandez Teodoro Ildefonso <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Salamanca<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 01\/01\/1999<\/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> Cabezas Flores Jos\u00e9 Antonio<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: felipe Montoya moreno <\/li>\n<li>vidal Moreno rodilla (vocal)<\/li>\n<li>Emilio Bautista paz (vocal)<\/li>\n<li>belen Curto diego (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Martinez Fernandez Teodoro Ildefonso El objetivo de este trabajo se centra en aplicar la t\u00e9cnica de eliminaci\u00f3n [&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 center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"footnotes":""},"categories":[332,1909,31724,7742,9386,2535],"tags":[39937,9464,9468,9465,103307,56785],"class_list":["post-40505","post","type-post","status-publish","format-standard","hentry","category-ciencias-tecnologicas","category-ingenieria-y-tecnologia-mecanicas","category-maquinas-herramienta-y-accesorios","category-robotica","category-salamanca","category-tecnologia-de-los-ordenadores","tag-belen-curto-diego","tag-cabezas-flores-jose-antonio","tag-emilio-bautista-paz","tag-felipe-montoya-moreno","tag-Martinez-fernandez-teodoro-ildefonso","tag-vidal-moreno-rodilla"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/40505","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/comments?post=40505"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/40505\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=40505"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=40505"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=40505"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}