{"id":98057,"date":"2018-03-11T10:18:44","date_gmt":"2018-03-11T10:18:44","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/control-bilateral-por-convergencia-de-estados-para-sistemas-teleoperados-con-robots-de-cinematica-diferente\/"},"modified":"2018-03-11T10:18:44","modified_gmt":"2018-03-11T10:18:44","slug":"control-bilateral-por-convergencia-de-estados-para-sistemas-teleoperados-con-robots-de-cinematica-diferente","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/robotica\/control-bilateral-por-convergencia-de-estados-para-sistemas-teleoperados-con-robots-de-cinematica-diferente\/","title":{"rendered":"Control bilateral por convergencia de estados para sistemas teleoperados con robots de cinem\u00e1tica diferente."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Cesar Augusto Pe\u00f1a  Cortes <\/strong><\/h2>\n<p>Esta tesis doctoral presenta una arquitectura de control que permite la implementaci\u00f3n del m\u00e9todo de control bilateral por convergencia de estados en sistemas teleoperados donde la estructura del robot maestro puede diferir de la del esclavo. Esta arquitectura de control hace uso de un robot virtual que emula las caracter\u00edsticas cinem\u00e1ticas y din\u00e1micas del robot esclavo con la cualidad que su efector final sigue de una manera fiel el efector final del robot maestro (real) de tal forma que el operador lo puede controlar f\u00e1cilmente.  se crearon tres variantes del m\u00e9todo de control bilateral por convergencia de estados que permiten su implementaci\u00f3n bajo diferentes criterios de dise\u00f1o. La primera variante del m\u00e9todo permite el uso de robots maestros sin sensores de fuerzas y las otras dos variantes enfatizan el cumplimiento de unas condiciones para lograr mejores niveles de transparencia en sistemas con y sin retardo en el canal de comunicaciones.  esta tesis presenta diversas pruebas realizadas en simulaci\u00f3n y pruebas experimentales que permiten validar de una manera satisfactoria la arquitectura de control propuesta con las variantes de los m\u00e9todos de control bilateral por convergencia de estados. Tambi\u00e9n presenta un an\u00e1lisis del comportamiento din\u00e1mico del sistema teleoperado al variar los diferentes par\u00e1metros de dise\u00f1o.  abstract:  in this thesis, a novel control architecture based on bilateral control methodology by state-convergence is introduced and subsequently applied to control teleoperated systems, in which both master and slave robots that compose the system differ in their structures. To solve this problem, the proposed control architecture introduced a virtual robot that emulates both kinematics and dynamics characteristics of the slave robot, aiming to converge-by reliable tracking-both slave and master end-effectors. This approach also allows the operator to handle the system with ease.  for instance, three modifications of the bilateral control method have been analyzed and introduced in order to develop different state-convergence control approach by regarding different design criteria. The first method is a variant of the bilateral control scheme that allows the use of the master robot without force sensors. Instead of sensing force, the master robot uses position and velocity sensors data to control the system. In addition, the other two modifications emphasize on improving the levels of transparency (based on considering established conditions) presented in systems -without or with- time delays within the communication channel.  several simulation and experimental testing results confirm that the assumption of improving the performance and reliability in the control of those systems is indeed correct. Validation testing of the three proposed modification to bilateral control by state-convergence are performed through several experiments, presenting the analysis of the teleoperated system dynamics behavior as a function of modifying the design parameters.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Control bilateral por convergencia de estados para sistemas teleoperados con robots de cinem\u00e1tica diferente.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Control bilateral por convergencia de estados para sistemas teleoperados con robots de cinem\u00e1tica diferente. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Cesar Augusto Pe\u00f1a  Cortes <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 15\/12\/2009<\/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>Roque Jacinto Saltaren Pazmi\u00f1o<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: agustin Jimenez avello <\/li>\n<li>alfonso Jos\u00e9 Garcia cerezo (vocal)<\/li>\n<li>Antonio Gimenez fernandez (vocal)<\/li>\n<li>aldo Pardo Garc\u00eda (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Cesar Augusto Pe\u00f1a Cortes Esta tesis doctoral presenta una arquitectura de control que permite la implementaci\u00f3n del [&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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