{"id":40597,"date":"1999-01-01T00:00:00","date_gmt":"1999-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/diseno-de-politicas-de-identificacion-y-control-de-robots-basadas-en-redes-neuronales-y-sistemas-neuro-fuzzy\/"},"modified":"1999-01-01T00:00:00","modified_gmt":"1999-01-01T00:00:00","slug":"diseno-de-politicas-de-identificacion-y-control-de-robots-basadas-en-redes-neuronales-y-sistemas-neuro-fuzzy","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/matematicas\/diseno-de-politicas-de-identificacion-y-control-de-robots-basadas-en-redes-neuronales-y-sistemas-neuro-fuzzy\/","title":{"rendered":"Dise\u00f1o de politicas de identificacion y control de robots basadas en redes neuronales y sistemas neuro-fuzzy."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Graciliano Nicolas Marichal Plasencia <\/strong><\/h2>\n<p>Este trabajo de investigaci\u00f3n se enmarca dentro del campo de la rob\u00f3tica. En \u00e9l proponemos una red neuronal din\u00e1mica con el objeto de determinar la din\u00e1mica de un robot manipulador, obviando el uso de t\u00e9cnicas cl\u00e1sicas, dada la alta carga computacional y dado que dan un modelo nominal. Se han introducido diferentes modificaciones en la red neuronal din\u00e1mica inicialmente propuesta. Se muestran varios resultados en donde se confirma la bondad de la red neuronal din\u00e1mica propuesta. En un af\u00e1n por simplificar esta red se introduce dependencia de unas neuronas respecto a otras de la misma capa. Esta nueva red nos lleva a una red de 2 capas con un n\u00famero de neuronas inferior a la de la red neuronal inicialmente propuesta. Se ha aplicado esta red al problema de determinar la din\u00e1mica inversa de un robot puma.  por otro lado, se ha abordado el problema de la cinem\u00e1tica inversa. Se han aplicado las redes neuronales est\u00e1ticas como primera forma de afrontarlo obteniendo resultados sobre algunos ejemplos. Como estrategia alternativa se ha estudiado el entrenamiento de las redes neuronales est\u00e1ticas mediante algoritmos gen\u00e9ticos. Se ha estudiado el problema del control de los manipuladores introduciendo un esquema basado en redes neuronales est\u00e1ticas y redes neuronales din\u00e1micas. por \u00faltimo se ha abordado el problema del control de robtos m\u00f3viles. Se ha utilizado una estrategia neuro fuzzy que nos ha permitido extraer de forma autom\u00e1tica las reglas fuzzy y funciones de pertenencia, todo ello a partir de la informaci\u00f3n suministrada por un operador. La efectividad de esta t\u00e9cnica se ilustra a trav\u00e9s de varias simulaciones y varios resultados obtenidos de forma experimental.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Dise\u00f1o de politicas de identificacion y control de robots basadas en redes neuronales y sistemas neuro-fuzzy.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Dise\u00f1o de politicas de identificacion y control de robots basadas en redes neuronales y sistemas neuro-fuzzy. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Graciliano Nicolas Marichal Plasencia <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 La laguna<\/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>Leopoldo Acosta Sanchez<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Luis Bas\u00e1\u00f1ez villaluenga <\/li>\n<li>ram\u00f3n L\u00f3pez de m\u00e1ntaras bad\u00eda (vocal)<\/li>\n<li>casiano Rodriguez leon (vocal)<\/li>\n<li>ezequiel Ballesteros ramirez (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Graciliano Nicolas Marichal Plasencia Este trabajo de investigaci\u00f3n se enmarca dentro del campo de la rob\u00f3tica. En [&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":[1890,332,13880,11013,9915,126,1124],"tags":[16653,99132,103478,39611,46812,14134],"class_list":["post-40597","post","type-post","status-publish","format-standard","hentry","category-ciencia-de-los-ordenadores","category-ciencias-tecnologicas","category-informatica","category-ingenieria-de-control","category-la-laguna","category-matematicas","category-tecnologia-de-la-instrumentacion","tag-casiano-rodriguez-leon","tag-ezequiel-ballesteros-ramirez","tag-graciliano-nicolas-marichal-plasencia","tag-leopoldo-acosta-sanchez","tag-luis-basanez-villaluenga","tag-ramon-lopez-de-mantaras-badia"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/40597","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=40597"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/40597\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=40597"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=40597"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=40597"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}