{"id":60838,"date":"2007-11-10T00:00:00","date_gmt":"2007-11-10T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/manipulacion-cooperativa-robot-robot-y-humano-robot-aplicacion-a-sistemas-flexible-de-desensamblado-automatico\/"},"modified":"2007-11-10T00:00:00","modified_gmt":"2007-11-10T00:00:00","slug":"manipulacion-cooperativa-robot-robot-y-humano-robot-aplicacion-a-sistemas-flexible-de-desensamblado-automatico","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/instrumentos-para-odontologia\/manipulacion-cooperativa-robot-robot-y-humano-robot-aplicacion-a-sistemas-flexible-de-desensamblado-automatico\/","title":{"rendered":"Manipulaci\u00f3n cooperativa robot-robot y humano-robot. aplicaci\u00f3n a sistemas flexible de desensamblado autom\u00e1tico"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Soledad Diaz Carolina <\/strong><\/h2>\n<p>En esta tesis se presenta una nueva perspectiva para abordar el problema de resolver tareas en forma cooperativa dentro de un sistema de desensamblado autom\u00e1tico. La cooperaci\u00f3n puede establecerse entre manipuladores rob\u00f3ticos o entre robots y humanos, seg\u00fan lo requiera la tarea. Se plantea el desarrollo y la investigaci\u00f3n de un planificador de tareas cooperativas, que determine la asignaci\u00f3n \u00f3ptima de las acciones para llevar a cabo de forma coordinada la ejecuci\u00f3n cooperativa delas distintas operaciones de desensamblado. Tambi\u00e9n se desarrolla en la presente tesis un m\u00e9todo que permite encontrar los puntos \u00f3ptimos de agarre para lograr una correcta manipulaci\u00f3n de los distintos productos a ser desensamblados, ya sea trabajando con dos o m\u00e1s robots en forma cooperativa, o cuando estos interact\u00faan con el humano. Los criterios fundamentales que se tienen en cuenta en los m\u00e9todos desarrollados son: garantizar la seguridad del ser humano, y aprovechar al m\u00e1ximo las ventajas que proporciona trabajar cooperativamente. Con la informaci\u00f3n proveniente del planificador de tareas y los correctos puntos de agarre  se aplican a un sistema real, donde interact\u00faan dos manipuladores rob\u00f3ticos y un operador humano para ejecutar cooperativamente distintas aplicaciones de desensamblado.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Manipulaci\u00f3n cooperativa robot-robot y humano-robot. aplicaci\u00f3n a sistemas flexible de desensamblado autom\u00e1tico<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Manipulaci\u00f3n cooperativa robot-robot y humano-robot. aplicaci\u00f3n a sistemas flexible de desensamblado autom\u00e1tico <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Soledad Diaz Carolina <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Alicante<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 11\/10\/2007<\/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>Fernando Torres Medina<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: rafael Aracil santonja <\/li>\n<li>oscar Reinoso garcia (vocal)<\/li>\n<li>alfonso Jos\u00e9 Garcia cerezo (vocal)<\/li>\n<li>c\u00e9sar Fern\u00e1ndez peris (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Soledad Diaz Carolina En esta tesis se presenta una nueva perspectiva para abordar el problema de resolver [&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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