{"id":42281,"date":"1999-01-01T00:00:00","date_gmt":"1999-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/optimizacion-global-de-indices-de-manipulabilidad-en-robots-paralelos\/"},"modified":"1999-01-01T00:00:00","modified_gmt":"1999-01-01T00:00:00","slug":"optimizacion-global-de-indices-de-manipulabilidad-en-robots-paralelos","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/optimizacion-global-de-indices-de-manipulabilidad-en-robots-paralelos\/","title":{"rendered":"Optimizacion global de indices de manipulabilidad en robots paralelos."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Jos\u00e9 Luis Olazagoitia Rodr\u00edguez <\/strong><\/h2>\n<p>Esta tesis se enmarca en el contexto de un proyecto de desarrollo teleoperado con reflexi\u00f3n de fuerza. El sistema teleoperado consta de dos manipuladores: uno maestro y otro esclavo. El operador gu\u00eda el robot maestro con su mano mientras el robot esclavo imita ese movimiento. ambos robots disponen de sensores de fuerza que permiten conocer los esfuerzos ejercidos por el operador sobre el robot maestro y el entorno sobre el esclavo. Estos \u00faltimos pueden ser sentidos por el operador, a trav\u00e9s del robot maestro, gracias a un algoritmo de control. la presente tesis trata el tema de la optimizaci\u00f3n geom\u00e9trica de manipuladores mec\u00e1nicos bas\u00e1ndose en la utilizaci\u00f3n de \u00edndices de destreza, haciendo un especial hincapi\u00e9 en los robots paralelos y, en particular, en la plataforma stewart. el m\u00e9todo de optimizaci\u00f3n desarrollado se aplica al robot maestro y se obtienen sus par\u00e1metros geom\u00e9tricos \u00f3ptimos para distintos espacios de operaci\u00f3n. Como complemento a esta metodolog\u00eda de optimizaci\u00f3n se han dise\u00f1ado y construido dos robots maestros, cada uno con caracter\u00edsticas de operaci\u00f3n distintas.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Optimizacion global de indices de manipulabilidad en robots paralelos.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Optimizacion global de indices de manipulabilidad en robots paralelos. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Jos\u00e9 Luis Olazagoitia Rodr\u00edguez <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Navarra<\/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>Alejo Avello Iturriagagoitia<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Miguel angel Serna oliveira <\/li>\n<li> Tagle gonzalez Jos\u00e9 Antonio (vocal)<\/li>\n<li>Jos\u00e9 Antonio Tarrago carcedo (vocal)<\/li>\n<li> Celigueta lizarza Juan  tomas (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Jos\u00e9 Luis Olazagoitia Rodr\u00edguez Esta tesis se enmarca en el contexto de un proyecto de desarrollo teleoperado [&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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