{"id":56246,"date":"2018-03-09T22:43:59","date_gmt":"2018-03-09T22:43:59","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/control-y-generacion-de-trayectorias-de-un-nuevo-sistema-de-locomocion-para-sillas-de-ruedas-con-capacidad-de-subir-y-bajar-escaleras\/"},"modified":"2018-03-09T22:43:59","modified_gmt":"2018-03-09T22:43:59","slug":"control-y-generacion-de-trayectorias-de-un-nuevo-sistema-de-locomocion-para-sillas-de-ruedas-con-capacidad-de-subir-y-bajar-escaleras","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/tecnologia-de-la-automatizacion\/control-y-generacion-de-trayectorias-de-un-nuevo-sistema-de-locomocion-para-sillas-de-ruedas-con-capacidad-de-subir-y-bajar-escaleras\/","title":{"rendered":"Control y generacion de trayectorias de un nuevo sistema de locomocion para sillas de ruedas con capacidad de subir y bajar escaleras"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Rafael Morales Herrera <\/strong><\/h2>\n<p>La tesis presentada muestra un original avance en la tecnolog\u00eda existente para la auto locomocion de personas con alto grado de minusvalia permitiendo la superacion de barreras arquitectonicas. Como principales aportaciones de esta tesis se han de resaltar las siguientes: en primer lugar, se ha realizado una correcta metodolog\u00eda de trabajo a la hora de realizar el dise\u00f1o, implantacion y verificacion tanto del sistema sensorial como de la unidad de control del prototipo desarrollado. en segundo lugar, se ha desarrollado un modelo cinematico, un modelo de calibraci\u00f3n y un generador de trayectorias basado en representacion compleja que hace uso de los grados de libertad adicionales del prototipo con la finalidad de conseguir un mayor confort para el pasajero. finalmente, se ha desarrollado un algoritmo de control basado en modos deslizantes y en la informacion obtenida por el sistema sensorial del prototipo con la finalidad de conseguir una mejor adaptaci\u00f3n dinamica al entorno.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Control y generacion de trayectorias de un nuevo sistema de locomocion para sillas de ruedas con capacidad de subir y bajar escaleras<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Control y generacion de trayectorias de un nuevo sistema de locomocion para sillas de ruedas con capacidad de subir y bajar escaleras <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Rafael Morales Herrera <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Castilla-la mancha<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 18\/12\/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>Vicente Feliu Batlle<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: ram\u00f3n Ceres ruiz <\/li>\n<li>pablo Gonzalez de santos (vocal)<\/li>\n<li>Carlos Balaguer bernaldo de quir\u00f3s (vocal)<\/li>\n<li>publio Pintado sanJuan (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Rafael Morales Herrera La tesis presentada muestra un original avance en la tecnolog\u00eda existente para la auto [&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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