{"id":10890,"date":"2014-02-08T13:16:53","date_gmt":"2014-02-08T13:16:53","guid":{"rendered":"https:\/\/roboticslab.uc3m.es\/robots-types-applications\/manipuladores-moviles\/"},"modified":"2014-02-08T13:16:53","modified_gmt":"2014-02-08T13:16:53","slug":"manipuladores-moviles","status":"publish","type":"robot_type_applicati","link":"https:\/\/roboticslab.uc3m.es\/es\/robots-types-applications\/manipuladores-moviles\/","title":{"rendered":"Manipuladores M\u00f3viles"},"content":{"rendered":"<p>El objetivo principal del Manipulador M\u00f3vil Manfred es el desarrollo de nuevas capacidades para operar en el entorno. El desarrollo de una nueva arquitectura de planificaci\u00f3n y control basada en sensores permitir\u00e1 la integraci\u00f3n de informaci\u00f3n sensorial proveniente de un esc\u00e1ner l\u00e1ser, visi\u00f3n y un sensor de fuerza\/torque. Para alcanzar este objetivo de manera eficiente, se requieren tres metas complementarias:<br \/>\n1. La arquitectura funcional integra percepci\u00f3n, control, planificaci\u00f3n local y global para que el manipulador m\u00f3vil pueda hacer frente a un amplio espectro de tareas t\u00edpicas requeridas para un robot de servicio que opera en entornos interiores (desplazamiento en \u00e1reas no congestionadas, desplazamiento en \u00e1reas congestionadas, apertura de puertas y colaboraci\u00f3n con humanos en el transporte de un objeto simple). La arquitectura se basar\u00e1 en retroalimentaci\u00f3n de sensores externos para el control de interacci\u00f3n y planificaci\u00f3n local basada en sensores para lograr una combinaci\u00f3n adecuada de reactividad al entorno y suavidad en el control de interacci\u00f3n con objetos.<br \/>\n2. El sistema de control de interacci\u00f3n se basa en una retroalimentaci\u00f3n sensorial de un control de impedancia. Al introducir el error posicional entre el efector final del brazo y el objeto como retroalimentaci\u00f3n de sensor en el lazo de control de impedancia, la tolerancia a la incertidumbre de posici\u00f3n del manipulador m\u00f3vil mejorar\u00e1 considerablemente. La estrategia de control de fuerza se basar\u00e1 en un control de impedancia debido a que el objeto a manipular no es exactamente el mismo y la tarea se realizar\u00e1 espor\u00e1dicamente.<br \/>\n3. El sistema de percepci\u00f3n se basa en un esc\u00e1ner l\u00e1ser (2D y 3D) y visi\u00f3n (una en la mano y una c\u00e1mara frontal) utilizada para resolver los problemas de desplazamiento y aproximaci\u00f3n, y un sistema de visi\u00f3n se utilizar\u00e1 para estimar el error posicional durante la tarea de interacci\u00f3n.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>El objetivo de esta l\u00ednea de investigaci\u00f3n es desarrollar manipuladores m\u00f3viles avanzados capaces de operar en entornos humanos. Manfred integra percepci\u00f3n, control, planificaci\u00f3n local y global para hacer frente a un amplio espectro de tareas t\u00edpicas requeridas para un s<\/p>\n","protected":false},"author":5,"featured_media":3517,"template":"","meta":{"_acf_changed":false},"categories":[78],"class_list":["post-10890","robot_type_applicati","type-robot_type_applicati","status-publish","has-post-thumbnail","hentry","category-tipo-de-robot-y-aplicaciones"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v25.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Manipuladores M\u00f3viles - Laboratorio de rob\u00f3tica<\/title>\n<meta name=\"robots\" content=\"noindex, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<meta property=\"og:locale\" content=\"es_ES\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Manipuladores M\u00f3viles - Laboratorio de rob\u00f3tica\" \/>\n<meta property=\"og:description\" content=\"El objetivo de esta l\u00ednea de investigaci\u00f3n es desarrollar manipuladores m\u00f3viles avanzados capaces de operar en entornos humanos. 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