{"id":61837,"date":"2007-12-12T00:00:00","date_gmt":"2007-12-12T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/control-bilateral-de-robots-teleoperados-por-convergencia-de-estados\/"},"modified":"2007-12-12T00:00:00","modified_gmt":"2007-12-12T00:00:00","slug":"control-bilateral-de-robots-teleoperados-por-convergencia-de-estados","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ingenieria-de-control\/control-bilateral-de-robots-teleoperados-por-convergencia-de-estados\/","title":{"rendered":"Control bilateral de robots teleoperados por convergencia de estados"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Juan  Manuel Bogado Torres <\/strong><\/h2>\n<p>El control bilateral surge de la necesidad de realimentar al operador informaci\u00f3n que le sea \u00fatil para la realizaci\u00f3n de tareas remotas de manipulaci\u00f3n. La informaci\u00f3n que se realimenta puede ser de m\u00faltiples \u00edndoles, bien sea fuerzas, sonidos, gr\u00e1ficos, etc. Es por ello que se trata de esquemas de control avanzados, en los que se acoplan dos bucles de control uno para el operador y otro en la zona remota del robot. Por lo tanto, de su calidad y robustez depender\u00e1 el rendimiento que tenga el operador al ejecutar una tarea remota.  el tema principal que se estudia en esta tesis es el control bilateral en teleoperaci\u00f3n. Se abordan diversos esquemas de control bilateral, cl\u00e1sicos y avanzados, haciendo un estudio en cuando a su funcionamiento, an\u00e1lisis,  factores que influyen en su desempe\u00f1o y la condici\u00f3n de operaci\u00f3n con o sin retardo en las comunicaciones. Adem\u00e1s, la tesis aborda el dise\u00f1o de una estaci\u00f3n de teleoperaci\u00f3n avanzada, cuya principal caracter\u00edstica es que es totalmente abierta, basada en un sistema maestro-esclavo de aplicaci\u00f3n industrial, lo que permite experimentar con diversas tecnolog\u00edas de aplicabilidad en la teleoperaci\u00f3n como lo son: control, interfaces hombre-m\u00e1quina, modelado de entornos, etc. Los diversos esquemas expuestos a lo largo de la tesis son implementados en la estaci\u00f3n de teleoperaci\u00f3n citada por lo que los resultados que se obtienen, pueden ser extrapolables en su mayor parte, a otros sistemas de teleoperaci\u00f3n.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Control bilateral de robots teleoperados por convergencia de estados<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Control bilateral de robots teleoperados por convergencia de estados <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Juan  Manuel Bogado Torres <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 12\/12\/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>Rafael Aracil Santonja<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Agustin Jimenez Avello <\/li>\n<li>Raul Marin Prades (vocal)<\/li>\n<li>Antonio Gimenez Fernandez (vocal)<\/li>\n<li>Gerardo Fernandez Lopez (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Juan Manuel Bogado Torres El control bilateral surge de la necesidad de realimentar al operador informaci\u00f3n que [&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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