{"id":63348,"date":"2008-07-03T00:00:00","date_gmt":"2008-07-03T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/control-de-un-robot-autonomo-movil-para-la-recogida-de-objetos\/"},"modified":"2008-07-03T00:00:00","modified_gmt":"2008-07-03T00:00:00","slug":"control-de-un-robot-autonomo-movil-para-la-recogida-de-objetos","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/control-de-un-robot-autonomo-movil-para-la-recogida-de-objetos\/","title":{"rendered":"Control de un robot aut\u00f3nomo m\u00f3vil para la recogida de objetos"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Santiago Torres \u00e1lvarez <\/strong><\/h2>\n<p>En esta tesis se ha llevado a cabo el dise\u00f1o y la implementaci\u00f3n de diversas t\u00e9cnicas de control para manipuladores rob\u00f3ticos, que impulsan los dise\u00f1os de control hasta ahora propuestos, a\u00f1adiendo mejores prestaciones en t\u00e9rminos de robustez y eficiencia computacional.  las t\u00e9cnicas de control para manipuladores existentes en la literatura, aunque resuelven problemas como el seguimiento eficaz de trayectorias en presencia de perturbaciones e incertidumbres, no tratan con eficacia problemas tales como la variabilidad de las condiciones din\u00e1micas del robot, la ejecuci\u00f3n satisfactoria de trayectorias para perturbaciones totalmente desconocidas, o las ligaduras a las que est\u00e1 sujeto el robot, tales como valores m\u00e1ximos en las entradas de los actuadores o valores l\u00edmite de las posiciones y velocidades de las articulaciones.  adem\u00e1s, es deseable el dise\u00f1o de controladores que proporcionen una soluci\u00f3n global a estos problemas, y que sean computacionalmente eficientes para su aplicaci\u00f3n en tiempo real. es por esta raz\u00f3n que en esta tesis se proponen diversas t\u00e9cnicas de control, basadas en algoritmos adaptativos, robustos y predictivos, que conducen a una mejor consecuci\u00f3n de los movimientos por parte del manipulador, a\u00fan en presencia de incertidumbres en el modelo del mismo, perturbaciones y teniendo en cuenta las ligaduras del sistema.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Control de un robot aut\u00f3nomo m\u00f3vil para la recogida de objetos<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Control de un robot aut\u00f3nomo m\u00f3vil para la recogida de objetos <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Santiago Torres \u00e1lvarez <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 La laguna<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 07\/03\/2008<\/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>Juan  Albino Mendez Perez<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: leopoldo Acosta sanchez <\/li>\n<li> Llata Garc\u00eda Jos\u00e9 ram\u00f3n (vocal)<\/li>\n<li>m. Becerra victor (vocal)<\/li>\n<li> Hamilton castro Alberto f. (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Santiago Torres \u00e1lvarez En esta tesis se ha llevado a cabo el dise\u00f1o y la implementaci\u00f3n 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 center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"footnotes":""},"categories":[332,9915],"tags":[139864,99131,39611,139862,139863,139861],"class_list":["post-63348","post","type-post","status-publish","format-standard","hentry","category-ciencias-tecnologicas","category-la-laguna","tag-hamilton-castro-alberto-f","tag-juan-albino-mendez-perez","tag-leopoldo-acosta-sanchez","tag-llata-garcia-jose-ramon","tag-m-becerra-victor","tag-santiago-torres-alvarez"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/63348","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/comments?post=63348"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/63348\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=63348"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=63348"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=63348"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}