{"id":85451,"date":"2018-03-10T00:09:53","date_gmt":"2018-03-10T00:09:53","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/control-coordinado-de-manipuladores-moviles-no-holonomos-aplicacion-a-la-cooperacion-activa-hombre-robot\/"},"modified":"2018-03-10T00:09:53","modified_gmt":"2018-03-10T00:09:53","slug":"control-coordinado-de-manipuladores-moviles-no-holonomos-aplicacion-a-la-cooperacion-activa-hombre-robot","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/control-coordinado-de-manipuladores-moviles-no-holonomos-aplicacion-a-la-cooperacion-activa-hombre-robot\/","title":{"rendered":"Control coordinado de manipuladores m\u00f3viles no hol\u00f3nomos. aplicaci\u00f3n a la cooperaci\u00f3n activa hombre-robot."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Vicente Fern\u00e1ndez Garc\u00eda <\/strong><\/h2>\n<p>Se presenta una soluci\u00f3n general al problema de la manipulaci\u00f3n m\u00f3vil basada en un tratamiento homg\u00e9neo de todos los grados de libertad a trav\u00e9s de un modelo cinem\u00e1tico \u00fanico. Se propone un operador de transformaci\u00f3n del gradiente al espacio de los actuadores, obtenido mediante el m\u00e9todo de linealizaci\u00f3n entrada-salida.  pensando en las aplicaciones de cooperaci\u00f3n con operarios humanos se presentan esquemas l\u00f3gicos de control expl\u00edcito de fuerza y de control de impedancia para manipuladores m\u00f3viles redundantes controlados en posici\u00f3n. se ha dise\u00f1ado un regulador digital de tipo rst y se ha estudiado la influencia del tiempo de muestreo en sus prestaciones. Para el reconocimiento de la intenci\u00f3n del operario maestro se ha utilizado el modelo oculto de markov entrenado don patrones frecuenciales de la se\u00f1al de fuerza de reacci\u00f3n en la garra que corresponden a las acciones del maestro.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Control coordinado de manipuladores m\u00f3viles no hol\u00f3nomos. aplicaci\u00f3n a la cooperaci\u00f3n activa hombre-robot.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Control coordinado de manipuladores m\u00f3viles no hol\u00f3nomos. aplicaci\u00f3n a la cooperaci\u00f3n activa hombre-robot. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Vicente Fern\u00e1ndez Garc\u00eda <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Carlos III de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 29\/06\/2000<\/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>caballero Salichs S\u00e1nchez<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Jos\u00e9 ram\u00f3n Per\u00e1n gonz\u00e1lez <\/li>\n<li>guillermo Ojea mar\u00edn (vocal)<\/li>\n<li>an\u00edbal Ollero baturone (vocal)<\/li>\n<li>vicente Diaz lopez (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Vicente Fern\u00e1ndez Garc\u00eda Se presenta una soluci\u00f3n general al problema de la manipulaci\u00f3n m\u00f3vil basada en 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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