{"id":55671,"date":"2018-03-09T22:43:23","date_gmt":"2018-03-09T22:43:23","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/modelado-cinematico-y-control-de-robots-moviles-con-ruedas\/"},"modified":"2018-03-09T22:43:23","modified_gmt":"2018-03-09T22:43:23","slug":"modelado-cinematico-y-control-de-robots-moviles-con-ruedas","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ingenieria-de-control\/modelado-cinematico-y-control-de-robots-moviles-con-ruedas\/","title":{"rendered":"Modelado cinem\u00e1tico y control de robots m\u00f3viles con ruedas"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Luis Gracia Caland\u00edn <\/strong><\/h2>\n<p>La presente tesis doctoral aborda el modelado cinem\u00e1tico y control de robots m\u00f3viles con  ruedas. En concreto se profundiza en los siguientes temas:  &#8211; se plantea el modelado de una rueda gen\u00e9rica que incluye todos los tipos comunes: fija,  orientable centrada, orientable descentrada (castor) y sueca (tambi\u00e9n denominada universal,  mecanum \u00f3 ilon).  &#8211; se describe un procedimiento eficiente para generar modelos cinem\u00e1ticos, basado en el  concepto de espacio nulo, el cual se aplica posteriormente a un gran n\u00famero de tipos de  robots m\u00f3viles. Todos estos modelos son caracterizados en cuanto a su precisi\u00f3n o  transmisi\u00f3n de errores (isotrop\u00eda).  &#8211; se deduce un novedoso planteamiento geom\u00e9trico que establece la singularidad de cualquier  modelo cinem\u00e1tico de cualquier robot con ruedas. Este planteamiento se aplica a todos los  tipos de robots anteriores.  &#8211; se desarrolla el modelado din\u00e1mico del robot para, a trav\u00e9s de tres sucesivas aproximaciones  y de la caracterizaci\u00f3n de las fricciones en las ruedas, llegar a un modelado cinem\u00e1tico con  deslizamiento.  &#8211; se plantea un esquema de control del robot con tres bucles de control anidados (din\u00e1mico,  cinem\u00e1tico y de planificaci\u00f3n) que es conceptualmente similar a los empleados en robots  manipuladores. En particular se profundiza en el bucle cinem\u00e1tico de nivel medio e  indirectamente en el de planificaci\u00f3n, al caracterizar las referencias que puede seguir  cada tipo de robot sin error.  &#8211; se presentan experiencias de comprobaci\u00f3n de los algoritmos de modelado con deslizamiento  y de control del robot, realizadas sobre una plataforma el\u00e9ctrica industrial (carretilla  industrial).  &#8211; finalmente se desarrollan dos soluciones para las aplicaciones de aparcamiento en paralelo,  con pre-planificaci\u00f3n y caracterizaci\u00f3n geom\u00e9trica, y de seguimiento de l\u00ednea por visi\u00f3n.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Modelado cinem\u00e1tico y control de robots m\u00f3viles con ruedas<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Modelado cinem\u00e1tico y control de robots m\u00f3viles con ruedas <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Luis Gracia Caland\u00edn <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Valencia<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 24\/11\/2006<\/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>Josep Tornero Montserrat<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Miguel Andr\u00e9s Mart\u00ednez iranzo <\/li>\n<li>Miguel \u00e1ngel Salichs s\u00e1nchez-caballero (vocal)<\/li>\n<li>Luis Bas\u00e1\u00f1ez villaluenga (vocal)<\/li>\n<li>Juli\u00e1n Florez esnal (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Luis Gracia Caland\u00edn La presente tesis doctoral aborda el modelado cinem\u00e1tico y control de robots m\u00f3viles con [&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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