{"id":65929,"date":"2008-04-07T00:00:00","date_gmt":"2008-04-07T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/control-de-robots-manipuladores-usando-informacion-visual-aplicacion-a-la-estimacion-del-movimiento-del-objeto\/"},"modified":"2008-04-07T00:00:00","modified_gmt":"2008-04-07T00:00:00","slug":"control-de-robots-manipuladores-usando-informacion-visual-aplicacion-a-la-estimacion-del-movimiento-del-objeto","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/tecnicas-de-prediccion-estadistica\/control-de-robots-manipuladores-usando-informacion-visual-aplicacion-a-la-estimacion-del-movimiento-del-objeto\/","title":{"rendered":"Control de robots manipuladores usando informaci\u00f3n visual: aplicaci\u00f3n a la estimaci\u00f3n del movimiento del objeto."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Carlos P\u00e9rez Vidal <\/strong><\/h2>\n<p>El control visual es un tema de investigaci\u00f3n mutidisciplinar debido a que engloba conocimientos de diversas \u00e1reas como: la rob\u00f3tica, el control, la electr\u00f3nica y la visi\u00f3n por computador. las t\u00e9cnicas de control visual son \u00fatiles en un gran n\u00famero de aplicaciones y son utilizadas para controlar diferentes sistemas. sin embargo, existen muchos problemas sin resolver que hacen que el control visual no se extienda a gran escala en la industria. una de las mayores limitaciones es la baja velocidad a la que estos sistemas pueden trabajar. Esta tesis doctoral contribuye a incrementar las prestaciones de los sistemas de control visual acelerando la respuesta de los mismos.  para conseguirlo se presenta el modelado e identificaci\u00f3n de un robot dise\u00f1ado espec\u00edficamente para este tipo de aplicaciones. El robot desarrollado es un cartesiano de tres grados de libertad y en esta tesis se presenta un modelo de gran detalle que permite simular su comportamiento con gran fidelidad antes de realizar experimentos reales.  una de las grandes novedades aportadas por esta tesis es el dise\u00f1o de un nuevo filtro de predicci\u00f3n llamado \u00abfuzzy mix of filters\u00bb (fmf). Este filtro presenta una mejora con respecto a los filtros cl\u00e1sicos habitualmente utilizados en los esquemas de control visual.  en este documento se muestra tambi\u00e9n un novedoso esquema de control que tiene en cuenta el retardo de adquisici\u00f3n y procesamiento de la c\u00e1mara. Este esquema supone una mejora considerable con respecto al utilizado hasta el momento.  esta tesis presenta una importante componente experimental. Se presta especial atenci\u00f3n a la implementaci\u00f3n del filtro fmf dise\u00f1ado de forma totalmente original. La implementaci\u00f3n del esquema de control y la adquisici\u00f3n\/procesamiento de la imagen se realiza en un dispositivo electr\u00f3nico espec\u00edfico (una fpga) con objeto de acelerar el tiempo de c\u00e1lculo.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Control de robots manipuladores usando informaci\u00f3n visual: aplicaci\u00f3n a la estimaci\u00f3n del movimiento del objeto.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Control de robots manipuladores usando informaci\u00f3n visual: aplicaci\u00f3n a la estimaci\u00f3n del movimiento del objeto. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Carlos P\u00e9rez Vidal <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Miguel hern\u00e1ndez de elche<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 04\/07\/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>Oscar Reinoso Garcia<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: rafael Aracil santonja <\/li>\n<li>Fernando Torres medina (vocal)<\/li>\n<li>Luis Gracia caland\u00edn (vocal)<\/li>\n<li>Jos\u00e9 Mar\u00eda Sebasti\u00e1n y z\u00fa\u00f1iga (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Carlos P\u00e9rez Vidal El control visual es un tema de investigaci\u00f3n mutidisciplinar debido a que engloba conocimientos [&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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