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dc.contributor.advisorAvilés Sánchez, Oscar Fernando
dc.contributor.advisorMauledoux Monroy, Mauricio Felipe
dc.contributor.authorMuñoz García, Cristian Hernán
dc.date.accessioned2021-12-24T04:51:23Z
dc.date.available2021-12-24T04:51:23Z
dc.date.issued2021-07-29
dc.identifier.urihttp://hdl.handle.net/10654/39749
dc.description.abstractEste proyecto presenta la implementación de controladores avanzados sobre el robot Manipulador Móvil UMNG, el cual cuenta con una base móvil de 6 ruedas y un brazo manipulador de 3 Grados de Libertad (GDL), sobre el cual se han realizado trabajos previos en diseño e implementación en tiempo real de un sistema para su teleoperación [1]; y de diseño, simulación y validación de controladores usando metodología de Software-In-The-Loop (SIL) [2]. Como continuación, este proyecto planteó como objetivo principal diseñar, simular y validar técnicas avanzadas de control en manipuladores móviles, utilizando la metodología de Hardware-In-The-Loop (HIL), sobre modelos virtuales. Para esto se realizaron 4 etapas de desarrollo del mismo: 1) se analizaron los antecedentes a nivel local sobre el uso el Manipulador Móvil UMNG y se realizó un análisis del estado del arte de manipuladores móviles, brazos robóticos y plataformas móviles; 2) se modeló matemáticamente la cinemática y dinámica del Manipulador Móvil UMNG para determinar los requerimientos de los controladores a diseñar y realizar los modelos correspondientes al Manipulador Móvil UMNG; 3) después de obtener los modelos matemáticos representativos del manipulador móvil estudiado se procedió a diseñar y validar las técnicas de control para la trayectoria del efector final del brazo manipulador, y para la orientación y velocidad de las ruedas de la plataforma móvil, posteriormente realizando su validación mediante la metodología de Software-In-The-Loop (SIL); 4) se realizó un análisis de los requisitos computacionales de cada uno de los controladores diseñados para, con otro análisis, determinar el sistema embebido en el cual se programarán para realizar finalmente una validación bajo la metodología de Hardware-In-The-Loop (HIL), realizando su respectiva comparación con los resultados obtenidos previamente bajo la metodología SIL. Cabe resaltar que tanto los trabajos previos realizados por Rubiano [1] y por Valencia [2] como este trabajo hacen parte del proyecto de investigación de alto impacto con código IMP-ING-2138 titulado: "Diseño y construcción de una plataforma robótica móvil para realizar el desminado en territorio colombiano".spa
dc.description.tableofcontents1. INTRODUCCIÓN 1.1. Resumen 1.2. Antecedentes 1.3. Planteamiento del Problema 1.4. Justificación del Proyecto 1.5. Estado del Arte 1.5.1. Diseño 1.5.2. Cinemática y Dinámica 1.5.3. Interacción con el espacio de trabajo 1.5.4. Robótica Cooperativa 1.5.5. Control 1.6. Marco Teórico 1.6.1. Robots Móviles 1.6.2. Tipos de Brazos Manipuladores 1.6.3. Cinemática y Dinámica de un Robot 1.6.4. Software-In-The-Loop (SIL) 1.6.5. Hardware-In-The-Loop (HIL) 1.7. Objetivos 1.7.1. Objetivo General 1.7.2. Objetivos Específicos 2. MODELOS MATEMÁTICOS DEL MANIPULADOR MÓVIL UMNG 2.1. Clasificación Estructural 2.2. Cinemática y Dinámica 2.2.1. Modelo Cinemático del Manipulador Móvil UMNG 2.3. Dinámica 2.3.1. Dinámica Inversa del Brazo Manipulador 2.3.2. Dinámica Directa del Brazo Manipulador 2.3.3. Dinámica Inversa de la Plataforma Móvil 3. CONTROL DEL MANIPULADOR MÓVIL UMNG - SIIL 3.1. Control del Brazo Manipulador 3.1.1. Controlador PD 3.1.2. Control PD+ 3.1.3. Control por Par Calculado 3.1.4. Control por Modos Deslizantes 3.1.5. Comparación entre los Controladores Diseñados para el Control de la Trayectoria del Efector Final del Brazo Manipulador 3.2. Control de la Plataforma Móvil 3.2.1. Control de Orientación de las Ruedas Direccionables 3.2.2. Control de Velocidad de la Plataforma Móvil 4. VALIDACIÓN MEDIANTE LA METODOLOGÍA HIL 4.1. Selección Embebido 4.2. Control del Brazo Manipulador: PD+ 4.3. Control del Brazo Manipulador: Par Calculado 4.4. Control del Brazo Manipulador: Modos Deslizantes 4.5. Comparación Control Trayectoria Efector Final del Brazo Manipulador - Metodología HIL 4.6. Orientación Plataforma Móvil: Servo Sistema Discreto 4.7. Orientación Plataforma Móvil: PI Generalizado Discreto 4.8. Orientación Plataforma Móvil: PID con Filtros Discretos 4.9. Comparación Control de Orientación Plataforma Móvil - Metodología HIL 4.10. Velocidad Plataforma Móvil: Servo Sistema Discreto 4.11. Velocidad Plataforma Móvil: PI Generalizado Discreto 4.12. Velocidad Plataforma Móvil: PID con Filtro Discreto 4.13. Comparación Control de Velocidad Plataforma Móvil - Metodología HIL 5. CONCLUSIONESspa
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dc.language.isospaspa
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.titleDiseño, simulación y validación de técnicas avanzadas de control en manipuladores móviles usando la metodología de Hardwre-In-The-Loop (HIL) sobre modelos virtualesspa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.subject.lembMANIPULADORES (MECANISMO)spa
dc.subject.lembSIMULADORES (TECNOLOGIA)spa
dc.subject.lembROBOTS INDUSTRIALESspa
dc.type.localTesis/Trabajo de grado - Monografía - Maestríaspa
dc.description.abstractenglishThis project presents the implementation of advanced controllers on the UMNG Manipulator Mobile robot, which has a 6-wheel mobile base and a 3-degrees of freedom (DOF) manipulator arm, on which previous works has been carried out in design and implementation in real time system for its teleoperation [1]; and design, simulation and validation of controllers using Software-In-The-Loop (SIL) methodology [2]. As a continuation, this project set as main objective the design, simulation and validation of advanced control techniques in mobile manipulators, using the Hardware-In-The-Loop (HIL) methodology, on virtual models. This project was structured in 4 steps of development: 1) the antecedents were analyzed locally on the use of the Mobile Manipulator UMNG and an analysis of the state of the art of mobile manipulators, robotic arms and mobile platforms was carried out; 2) the kinematics and dynamics of the UMNG Mobile Manipulator in order to determine the requirements of the controllers to be designed and finding the mathematical representations of the UMNG Mobile Manipulator; 3) after you get the models representative mathematicians of the studied mobile manipulator, we proceeded to design and validate the control techniques for the trajectory of the manipulator arm end effector, and for the orientation and the speed of the wheels of the mobile platform, subsequently carrying out its validation by means of the Software-In-The-Loop (SIL) methodology; 4) an analysis of the computational requirements was performed of each of the controllers designed to, with another analysis, determine the embedded system in which will be programmed to finally carry out a validation under the Hardware-In-The-Loop (HIL), making its respective comparison with the results previously obtained under the SIL methodology. It should be noted that both the previous works carried out by Rubiano [1] and Valencia [2] and this work are part of the high impact research project with code IMP-ING-2138 entitled: "Design and construction of a mobile robotic platform to carry out demining in the colombian territory".spa
dc.title.translatedDesign, simulation and validation of advanced control techniques on mobile manipulators using Hardware-In-The-Loop (HIL) methodology over virtual modelsspa
dc.subject.keywordsMobile Manipulator UMNGspa
dc.subject.keywordsAdvanced Controlspa
dc.subject.keywordsManipulator Armspa
dc.subject.keywordsMobile Platformspa
dc.subject.keywordsSoftware-In-The-Loopspa
dc.subject.keywordsHardware-In-The-Loopspa
dc.subject.keywordsDiscrete Generalized PI Controlspa
dc.publisher.programMaestría en Ingeniería Mecatrónicaspa
dc.creator.degreenameMagíster en Ingeniería Mecatrónicaspa
dc.description.degreelevelMaestríaspa
dc.publisher.facultyFacultad de Ingenieríaspa
dc.type.driverinfo:eu-repo/semantics/masterThesisspa
dc.rights.creativecommonsAttribution-NonCommercial-NoDerivatives 4.0 Internationalspa
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dc.subject.proposalManipulador Móvil UMNGspa
dc.subject.proposalControl Avanzadospa
dc.subject.proposalBrazo Manipuladorspa
dc.subject.proposalPlataforma Móvilspa
dc.subject.proposalSoftware-In-The-Loopspa
dc.subject.proposalHardware-In-The-Loopspa
dc.subject.proposalPI Generalizado Discretospa
dc.publisher.grantorUniversidad Militar Nueva Granadaspa
dc.type.coarhttp://purl.org/coar/resource_type/c_bdcc*
dc.type.hasversioninfo:eu-repo/semantics/acceptedVersionspa
dc.identifier.instnameinstname:Universidad Militar Nueva Granadaspa
dc.identifier.reponamereponame:Repositorio Institucional Universidad Militar Nueva Granadaspa
dc.identifier.repourlrepourl:https://repository.unimilitar.edu.cospa
dc.rights.localAcceso abiertospa
dc.coverage.sedeCalle 100spa
dc.rights.coarhttp://purl.org/coar/access_right/c_abf2


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