{"id":4336,"date":"1994-01-01T00:00:00","date_gmt":"1994-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/1994\/01\/01\/dinamica-inversa-de-robots-flexibles-un-nuevo-metodo-en-el-dominio-del-tiempo\/"},"modified":"1994-01-01T00:00:00","modified_gmt":"1994-01-01T00:00:00","slug":"dinamica-inversa-de-robots-flexibles-un-nuevo-metodo-en-el-dominio-del-tiempo","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/dinamica-inversa-de-robots-flexibles-un-nuevo-metodo-en-el-dominio-del-tiempo\/","title":{"rendered":"Dinamica inversa de robots flexibles: un nuevo metodo en el dominio del tiempo."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Eliodoro Carrera Chinga <\/strong><\/h2>\n<p>La presente tesis presenta un metodo para la resolucion de la dinamica inversa de robots flexibles. Este nuevo metodo es general, con caracter no-iterativo, y se realiza en el dominio del tiempo. Las ecuaciones dinamicas, a las cuales esta acoplada la cinematica inversa, son obtenidas mediante una formulacion lagrangiana, que incorpora las ecuaciones de vinculacion o de enlace de forma directa mediante penalizadores. La modelizacion se realiza bajo la teoria de viga de euler-bernoulli y la discretizacion de las deformaciones por el metodo de los elementos finitos.  el problema dinamico inverso que busca la solucion no-causal y estable, es contemplado como un sistema de ecuaciones diferenciales cuya integracion numerica se aborda como el de un problema con imposicion de condiciones de contorno. Las variables dependientes del tiempo son discretizadas mediante diferencias finitas y el intervalo de total de integracion es fijado de forma heuristica para conseguir captar los retrasos debidos a la flexibilidad. Se realizan simulaciones numericas para procurar la validez del metodo.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Dinamica inversa de robots flexibles: un nuevo metodo en el dominio del tiempo.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Dinamica inversa de robots flexibles: un nuevo metodo en el dominio del tiempo. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Eliodoro Carrera Chinga <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Navarra<\/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>Miguel Angel Serna Oliveira<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Carlos Bastero De Eleizalde <\/li>\n<li>Jos\u00e9 Antonio Tarrago Carcedo (vocal)<\/li>\n<li>Joaquin Casellas Roure (vocal)<\/li>\n<li> Pasqual Del Pobil Ferre Angel (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Eliodoro Carrera Chinga La presente tesis presenta un metodo para la resolucion de la dinamica inversa 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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