{"id":78118,"date":"2018-03-09T23:23:46","date_gmt":"2018-03-09T23:23:46","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/estimacion-de-parametros-dinamicos-en-robots-manipuladores\/"},"modified":"2018-03-09T23:23:46","modified_gmt":"2018-03-09T23:23:46","slug":"estimacion-de-parametros-dinamicos-en-robots-manipuladores","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/estimacion-de-parametros-dinamicos-en-robots-manipuladores\/","title":{"rendered":"Estimaci\u00f3n de par\u00e1metros din\u00e1micos en robots manipuladores"},"content":{"rendered":"<h2>Tesis doctoral de <strong>  Benimeli Andreu Francisco Javier <\/strong><\/h2>\n<p>La identificaci\u00f3n de los par\u00e1metros din\u00e1micos que constituyen el modelo din\u00e1mico de un robot manipulador tiene por objeto la estimaci\u00f3n de valores precisos de dichos par\u00e1metros a partir de medidas experimentales del movimiento del robot, siendo \u00e9ste el \u00fanico procedimiento pr\u00e1ctico que permite la obtenci\u00f3n de valores fiables de los mismos cuando el sistema mec\u00e1nico presenta una m\u00ednima complejidad. La importancia de la identificaci\u00f3n de par\u00e1metros din\u00e1micos se manifiesta especialmente tanto en aplicaciones de control por din\u00e1mica inversa como en simulaci\u00f3n din\u00e1mica. En esta tesis, se aborda la identificaci\u00f3n de par\u00e1metros din\u00e1micos, tanto desde el punto de vista te\u00f3rico como experimental, en robots manipuladores con configuraci\u00f3n de cadena cinem\u00e1tica abierta.  por un parte, se desarrolla el modelo din\u00e1mico de un robot manipulador a partir de las ecuaciones de la din\u00e1mica de acuerdo al formalismo de gibbs-appell.  para ello, se asume el robot constituido por barras r\u00edgidas, model\u00e1ndose independientemente el comportamiento din\u00e1mico de los actuadores. Se consideran asimismo algunos modelos de fricci\u00f3n lineales con respecto a sus coeficientes con objeto de modelar los fen\u00f3menos de fricci\u00f3n en los nudos. Posteriormente, las ecuaciones que constituyen dicho modelo son reescritas de forma lineal respecto a los par\u00e1metros din\u00e1micos a identificar y en forma matricial, a fin de permitir la posterior aplicaci\u00f3n de t\u00e9cnicas num\u00e9ricas tanto de an\u00e1lisis de forma lineal respecto a los par\u00e1metros din\u00e1micos a identificar y en forma matricial, a fin de permitir la posterior aplicaci\u00f3n de t\u00e9cnicas num\u00e9ricas tanto de an\u00e1lisis y reducci\u00f3n como de resoluci\u00f3n del sistema de ecuaciones as\u00ed constituido.  por otra parte, se tratan algunos aspectos fundamentales de la identificaci\u00f3n de par\u00e1metros din\u00e1micos tanto a nivel te\u00f3rico como pr\u00e1ctico. As\u00ed, se aborda la generaci\u00f3n de trayectorias optimizadas, recurri\u00e9ndose<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Estimaci\u00f3n de par\u00e1metros din\u00e1micos en robots manipuladores<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Estimaci\u00f3n de par\u00e1metros din\u00e1micos en robots manipuladores <\/li>\n<li><strong>Autor:<\/strong>\u00a0  Benimeli Andreu Francisco Javier <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Valencia<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 21\/12\/2005<\/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>\u00e1ngel Valera Fern\u00e1ndez<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: pedro Albertos p\u00e9rez <\/li>\n<li>federico Thomas arroyo (vocal)<\/li>\n<li>Carlos Balaguer bernaldo de quir\u00f3s (vocal)<\/li>\n<li>Fernando Torres medina (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Benimeli Andreu Francisco Javier La identificaci\u00f3n de los par\u00e1metros din\u00e1micos que constituyen el modelo din\u00e1mico de un [&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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