{"id":41837,"date":"1999-01-01T00:00:00","date_gmt":"1999-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/fine-motion-planning-for-robotic-assembly-under-modelling-and-sensing-uncertainties\/"},"modified":"1999-01-01T00:00:00","modified_gmt":"1999-01-01T00:00:00","slug":"fine-motion-planning-for-robotic-assembly-under-modelling-and-sensing-uncertainties","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/matematicas\/fine-motion-planning-for-robotic-assembly-under-modelling-and-sensing-uncertainties\/","title":{"rendered":"Fine-motion planning for robotic assembly under modelling and sensing uncertainties."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Joan Rosell Gratac\u00f3s <\/strong><\/h2>\n<p>Esta tesis propone un sistema autom\u00e1tico para la planificaci\u00f3n y ejecuci\u00f3n de tareas de montaje robotizadas en el plano, teniendo en cuenta las incertidumbres de modelado y de sensado, y el uso de informaci\u00f3n sensorial de configuraci\u00f3n y fuerza. el planificador propuesto est\u00e1 basado en un enfoque a dos fases. La primera fase no considera incertidumbre, y corresponde a la planificaci\u00f3n nominal de un camino soluci\u00f3n en el espacio libre basada en una descomposici\u00f3n exacta del espacio de configuraciones. Para esta fase se ha introducido el espacio de configuraciones traslacional parametrizado que permite una representaci\u00f3n gr\u00e1fica e intuitiva de las restricciones geom\u00e9tricas de las tareas de montaje en el plano.  la segunda fase considera la incertidumbre para evaluar el camino nominal. La tesis contiene un an\u00e1lisis pormenorizado del efecto de las incertidumbres en las situaciones de contacto. Se ha introducido una nueva representaci\u00f3n de la incertidumbre en el espacio de configuraciones y el concepto de dependencia de las fuentes de incertidumbre. Se han desarrollado algoritmos para la identificaci\u00f3n de contactos basados en la informaci\u00f3n sensorial de configuraci\u00f3n y fuerza, y se han usado para validar el camino nominal. los tramos de este camino que son susceptibles de error debido a la incertidumbre se substituyen por caminos en el espacio de contacto.  para la ejecuci\u00f3n de la tarea se han implementado algoritmos para la reducci\u00f3n de incertidumbre. La s\u00edntesis de los comandos de movimiento para la ejecuci\u00f3n de los movimientos acomodaticios se basa en el modo de control del amortiguador generalizado y tiene en cuenta el efecto de la fricci\u00f3n.  todos los m\u00f3dulos del planificador se han implementado y validado, y la ejecuci\u00f3n de tareas de montaje se ha verificado experimentalmente con un robot staubli rx-90 dotado de un sensor de fuerza jr3. Este planificador es un primer paso hacia el objetivo<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Fine-motion planning for robotic assembly under modelling and sensing uncertainties.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Fine-motion planning for robotic assembly under modelling and sensing uncertainties. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Joan Rosell Gratac\u00f3s <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de catalunya<\/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>Luis Bas\u00e1\u00f1ez Villaluenga<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: albert Corominas subias <\/li>\n<li>Rafael Aracil (vocal)<\/li>\n<li>hendrik Van brussel (vocal)<\/li>\n<li>Jos\u00e9 Ramon peran (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Joan Rosell Gratac\u00f3s Esta tesis propone un sistema autom\u00e1tico para la planificaci\u00f3n y ejecuci\u00f3n de tareas 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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