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dc.contributor.advisor | Urbano de Almeida Lima, Pedro Manuel | es_ES |
dc.contributor.author | Romero Delgado, Manuel | es_ES |
dc.date.accessioned | 2013-05-21T14:32:04Z | |
dc.date.available | 2013-05-21T14:32:04Z | |
dc.date.created | 2012-05 | |
dc.date.issued | 2013-05-21 | |
dc.identifier.uri | http://hdl.handle.net/10251/29003 | |
dc.description.abstract | Consulta en la Biblioteca ETSI Industriales (8994) | es_ES |
dc.description.abstract | [EN] This thesis approaches the general situations where the robot must intercept a freely rolling ball and the task to obstacle avoidance. Different solutions are presented to each of these problems and are implemented in ISocRob omnidirectional robots. The robots and the ball are considered as fast-moving , since its trajectory may change unexpectedly. Despite this, the obstacle avoidance task is accomplished through of calculate one safe path, which is tangent to the boundary of obstacle. Ball interception task is achieved through a hybrid solution that combines the concepts of trajectory-tracking and proportional navigation, which supply an acceleration controlled by PI regulator. | es_ES |
dc.language | Inglés | es_ES |
dc.publisher | Universitat Politècnica de València | es_ES |
dc.rights | Reserva de todos los derechos | es_ES |
dc.subject | Consulta en la Biblioteca ETSI Industriales | es_ES |
dc.subject | Robots | es_ES |
dc.subject.classification | INGENIERIA ELECTRICA | es_ES |
dc.subject.other | Ingeniero en Automática y Electrónica Industrial-Enginyer en Automàtica i Electrònica Industrial | es_ES |
dc.title | Object interception control for omnidirectional motion robots | es_ES |
dc.type | Proyecto/Trabajo fin de carrera/grado | es_ES |
dc.rights.accessRights | Cerrado | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Escuela Técnica Superior de Ingenieros Industriales - Escola Tècnica Superior d'Enginyers Industrials | es_ES |
dc.description.bibliographicCitation | Romero Delgado, M. (2012). Object interception control for omnidirectional motion robots. http://hdl.handle.net/10251/29003. | es_ES |
dc.description.accrualMethod | Archivo delegado | es_ES |