{"id":80181,"date":"2018-03-10T00:03:50","date_gmt":"2018-03-10T00:03:50","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/modelado-dinamico-y-control-de-un-robot-flexible-de-tres-grados-de-libertad\/"},"modified":"2018-03-10T00:03:50","modified_gmt":"2018-03-10T00:03:50","slug":"modelado-dinamico-y-control-de-un-robot-flexible-de-tres-grados-de-libertad","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/modelado-dinamico-y-control-de-un-robot-flexible-de-tres-grados-de-libertad\/","title":{"rendered":"Modelado dinamico y control de un robot flexible de tres grados de libertad"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Jos\u00e9 Andres Somolinos Sanchez <\/strong><\/h2>\n<p>-a lo largo de esta tesis ha quedado de manifiesto el amplio interes e importancia que esta tomando la robotica flexible, si bien la gran mayoria de los trabajos cientificos y tecnicos en este campo est\u00e1n orientados al estudio de robots flexibles de uno \u00f3 dos grados de libertad.  -se ha desarrollado un prototipo de robots flexible de 3 grados de libertad y prestaciones industriales que se considera pionero en su campo. Este trabajo ha sido desarrollado de forma conjunta por la e.T.S. De ingenieros industriales de la u.N.E.D. Y la e.T.S.I. Industriales de la universidad de castilla-la mancha.  -se presenta un m\u00e9todo de modelado dinamico basado en la hip\u00f3tesis de una masa concentrada en el extremo que tiene una buena correspondencia con el sistema real y que resulta conceptual y computacionalmente muy simple.  -se ha desarrollado un sistema de control a partir de esquemas previos para robots de uno y dos grados de libertad. Este esquema de control esta basado en la inversi\u00f3n din\u00e1mica del sistema. A partir del modelo din\u00e1mico, con lo que se consigue un algoritmo de control muy simple y eficiente que permite su f\u00e1cil implantaci\u00f3n en un computador de tiempo real.  -un estudio de la estabilidad seg\u00fan lyapunov indica que el algoritmo presenta estabilidad asint\u00f3tica global.  -se presentan resultados experimentales que validan tanto el modelo din\u00e1mico como el algoritmo de control no s\u00f3lo en el entorno de un punto sino en el seguimiento de trayectorias.  -estos resultados abren nuevos caminos en el dise\u00f1o y control de manipuladores flexibles con especificaciones cada vez m\u00e1s pr\u00f3ximas a las de un robot industrial.  -finalmente, se presenta un estudio de la estabilidad del esquema de control cuando la carga del extremo difiere de la nominal.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Modelado dinamico y control de un robot flexible de tres grados de libertad<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Modelado dinamico y control de un robot flexible de tres grados de libertad <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Jos\u00e9 Andres Somolinos Sanchez <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Nacional de educaci\u00f3n a distancia<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 14\/06\/1999<\/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>Vicente Feliu Batlle<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: eugenio Andr\u00e9s puente <\/li>\n<li>agustin Jimenez avello (vocal)<\/li>\n<li>Mar\u00eda no Artes gomez (vocal)<\/li>\n<li>Carlos Balaguer bernaldo de quir\u00f3s (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Jos\u00e9 Andres Somolinos Sanchez -a lo largo de esta tesis ha quedado de manifiesto el amplio interes [&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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