{"id":78750,"date":"2018-03-09T23:24:27","date_gmt":"2018-03-09T23:24:27","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/sensor-fusion-of-force-acceleration-and-position-for-compliant-robot-motion-control\/"},"modified":"2018-03-09T23:24:27","modified_gmt":"2018-03-09T23:24:27","slug":"sensor-fusion-of-force-acceleration-and-position-for-compliant-robot-motion-control","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/sensor-fusion-of-force-acceleration-and-position-for-compliant-robot-motion-control\/","title":{"rendered":"Sensor fusion of force, acceleration and position for compliant robot motion control"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Javier G\u00e1mez Garc\u00eda <\/strong><\/h2>\n<p>El estudio de estrategias de control para robots que trabajan en entornos con movimientos restringidos puede ser ya considerada como una de las cl\u00e1sicas de este campo dentro de la disciplina de la rob\u00f3tica. Adem\u00e1s, en los \u00faltimos a\u00f1os, la reducci\u00f3n del precio de los sensores de fuerza y la mejora en la potencia de c\u00e1lculo de los sistemas de control de los robots industriales, han hecho que la industria usuaria de dispositivos rob\u00f3ticos sea cada vez m\u00e1s consciente de la utilidad de incorporar en sus aplicaciones elementos que controlen la fuerza aplicada por la m\u00e1quina sobre su entorno de trabajo. es previsible que en un espacio de tiempo relativamente corto los fabricantes de robots incluyan comercialmente de manera extensiva en sus controladores la posibilidad de incorporar elementos de control que permitan utilizar sensores de fuerza montados sobre el brazo articulado. En este sentido, es probable una evoluci\u00f3n similar a la sufrida por los sistemas de visi\u00f3n por computador que ya son casi un est\u00e1ndar en la mayor\u00eda de las ofertas comerciales de robots. sin embargo, son todav\u00eda muchos los problemas abiertos que en el campo del control de fuerza de robots manipuladores carecen de soluciones suficientemente maduras, lo que limita la aplicabilidad real de estos sistemas en la industria m\u00e1s all\u00e1 de tareasrelativamente simples. Uno de los problemas abiertos que requiere de soluciones fiables y que, por lo tanto, constituye una l\u00ednea de investigaci\u00f3n de inter\u00e9s dentro de este campo, es el dise\u00f1o de sistemas de control de fuerza en robots manipuladores capaces de:       \u00c2\u00b7  trabajar adecuadamente ante perturbaciones causadas por las fuerzas de inercia cuando el extremo del manipulador se desplaza en el espacio libre. Estas perturbaciones se manifiestan m\u00e1s claramente al utilizar herramientas pesadas, lo cual resulta bastante com\u00fan en la industria,       \u00c2\u00b7 que el sistema de control sea capaz de superar adecuadamente los transitorios que se produ<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Sensor fusion of force, acceleration and position for compliant robot motion control<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Sensor fusion of force, acceleration and position for compliant robot motion control <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Javier G\u00e1mez Garc\u00eda <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Ja\u00e9n<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 17\/02\/2006<\/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 G\u00f3mez Ortega<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: eduardo Fernandez camacho <\/li>\n<li>Francisco Rodr\u00edguez rubio (vocal)<\/li>\n<li>vicente Feli\u00fa batle (vocal)<\/li>\n<li>anders Robertsson (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Javier G\u00e1mez Garc\u00eda El estudio de estrategias de control para robots que trabajan en entornos con movimientos [&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":[332,18923],"tags":[169197,11018,11015,169196,26546,127674],"class_list":["post-78750","post","type-post","status-publish","format-standard","hentry","category-ciencias-tecnologicas","category-jaen","tag-anders-robertsson","tag-eduardo-fernandez-camacho","tag-francisco-rodriguez-rubio","tag-javier-gamez-garcia","tag-juan-gomez-ortega","tag-vicente-feliu-batle"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/78750","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=78750"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/78750\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=78750"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=78750"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=78750"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}