Robotica

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Robotica

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  28. 28. (VFXHODGH,QJHQLHUtD,QGXVWULDO± 8QLYHUVLGDGGHO0DUKLOH 3RVLFLRQDPLHQWRGHOEUD]RXDQGR VH RUGHQD D XQ URERW TXHVXSLQ]DVHWUDVODGHGHXQSXQWR$D RWUR SXQWR % QR VH OH LQGLFDQJHQHUDOPHQWH ORV OXJDUHV SRUGRQGH GHEH KDFHUOR VLQR TXH VXVLVWHPD GH FRQWURO JHQHUD ODWUDHFWRULD EDViQGRVH HQ VLVWHPDGH HFXDFLRQHV TXH FRQWLHQHQ VXSURJUDPDPRQLWRUVHJ~QHOWLSRGHFRQWURO LPSOHPHQWDQGR HO HUURUDGPLVLEOH SRU HO VLVWHPD ODYHORFLGDGUHTXHULGD HVFULSFLyQHVTXHPDWL]DGDGHODWUDHFWRULDGHOEUD]RGHXQURERWFXDQGRVH WUDVODGDGHXQSXQWRDRWURVDOYDQGRXQREVWiFXORFXDOTXLHUD8QRGHORVSUREOHPDVTXHVHSUHVHQWDQDOPRQLWRUHVHOFRQRFHUODSRVLFLyQUHDOGHOEUD]RHQ FDGD PRPHQWR (O PpWRGR GHSHQGH HQ JUDQ SDUWH GHO WLSR GH DFWXDGRU HOHJLGR SDUDUHDOL]DUORVPRYLPLHQWRV0RWRUHVSDVRDSDVR/RV PRWRUHV SDVR D SDVR QHFHVLWDQ PX SRFR VRIWZDUH SURJUDPD HVFULWR HQ PHPRULD
  29. 29. FXHQWDQ FRQ OD YHQWDMD DGLFLRQDO GH QR SUHFLVDU UHJODPHQWDFLyQ SDUD FRQRFHU VXSRVLFLRQDPLHQWR VL HO SDU XWLOL]DGR HV DOWR OD IUHFXHQFLD GH WUDEDMR FUtWLFDIXQFLRQDPLHQWRDODYHORFLGDGPi[LPD
  30. 30. FDEHODSRVLELOLGDGGHSHUGHUDOJ~QSDVR(QHVWHFDVRHVFRQYHQLHQWHGRWDUDHVWRV PRWRUHVGHUHDOLPHQWDFLyQSDUDDVHJXUDUVHTXHHOQ~PHURGHSDVRVSURJUDPDGRVFRLQFLGHQFRQHOGDGRSRUHOPRWRURELHQSDUDTXHODIUHFXHQFLDGHORV LPSXOVRV QR VHD VXSHULRU D OD Pi[LPD SHUPLWLGD SRU HO PRWRU HQ HVH PRPHQWR (VWHFRQWUROVXHOHHIHFWXDUVH HQWLHPSRUHDOELHQVHDSRUPpWRGRVDQDOyJLFRVRGLJLWDOHV(OFRQWUROGHSRVLFLyQHQPRWRUHVGHFRUULHQWHFRQWLQXD2WURWLSR GH VHUYRV HPSOHDQ PRWRUHVGH FRUULHQWH FRQWLQXD(VWRV PRWRUHVFXHQWDQ FRQ ODYHQWDMD VREUH ORV SDVR D SDVR GH WHQHU XQ SDU PRWRU PX VXSHULRU SRGHU VXPLQLVWUDUPDRUHV SRWHQFLDV VLQ HPEDUJR HO FRQWURO GH SRVLFLRQDPLHQWR GH ORV PLVPRV HV PDVFRPSOLFDGRUHTXLHUHPpWRGRVGHVXSHULRUFRVWR8QR GHORVPpWRGRVPiVXWLOL]DGRSDUDHOFRQWUROGHSRVLFLyQHQORVPRWRUHVGHFRUULHQWHFRQWLQXDHVHOUHDOL]DGRPHGLDQWHOHFWXUDGHODYHORFLGDGHQFDGDLQVWDQWHFDOFXODQGRORVGHVJORVDPLHQWRVKDFLHQGRODLQWHJUDOGHODYHORFLGDG/RVPpWRGRVGHFRQWUROGHYHORFLGDGGHPRWRUHVHOpFWULFRVQHFHVLWDQXQVLVWHPDGHFRQWUROLQGHSHQGLHQWHSDUDFDGDPRWRURELHQXQ VLVWHPD KtEULGR DQDOyJLFR ± GLJLWDO
  31. 31. 6L HPSOHDQ XQ VROR PLFURSURFHVDGRU KDEUi TXHPXOWLSOH[DU ODV HQWUDGDV ODV VDOLGDV GH FRQWURO SXHVWR TXH HO VLVWHPD GHEH IXQFLRQDU HQWLHPSRUHDO,VDtDV5RMDV3HxD
  32. 32. (VFXHODGH,QJHQLHUtD,QGXVWULDO± 8QLYHUVLGDGGHO0DUKLOH8QD PDQHUD GH UHGXFLU HO HUURU HVHPSOHDU VLVWHPDV UHDOLPHQWDGRV SDUDHO FRQWURO GH SRVLFLyQ FRQ SDUDGD HQFDGD SXQWR GH FDPELR GH GLUHFFLyQ/RV FKRTXHV ODV YLEUDFLRQHVJHQHUDGDVSRUORVFDPELRVEUXVFRVGHYHORFLGDG VRQ LQGHVHDEOHV SXHVWRTXH LQWURGXFHQ LQHVWDELOLGDGWHPSRUDO HQ URERW KDFLpQGRORLQJREHUQDEOH GXUDQWH HO WLHPSR TXHGXUDODYLEUDFLyQ 6LVWHPDPHFiQLFRJHQHUDOL]DGRGHDFRSODPLHQWRSDUDXQ PRGHORGHFRQWURO/RVVLVWHPDVGHFRQWUROGHSRVLFLyQ SRWHQFLRPpWULFR(OHPSOHRGHSROHDVRHQJUDQDMHVUHGXFWRUHVGHYHORFLGDG WLHQGHQDPHMRUDUHOFRPSRUWDPLHQWRPHFiQLFRGHOVLVWHPDFRQ SDUDGD HQ ORV SXQWRV GH FDPELR UHTXLHUHQ TXH ODV DFHOHUDFLRQHV GH DUUDQTXH ODVGHVDFHOHUDFLRQHV GH SDUDGD VHDQ GH SDUHFLGD PDJQLWXG GH VXILFLHQWH OHQWLWXG FRPRSDUDTXHHOURERWQRVHGHVHVWDELOLFHXDQGR HO PRWRU OOHJD D XQ GHWHUPLQDGR SXQWR GH OD WUDHFWRULD WLHQH TXH KDFHUOR DYHORFLGDGQXODSDUDUHGXFLUHOHUURUGHSRVLFLyQORTXHKDFHTXHHVWRVVLVWHPDVVHDQOHQWRV3DUDDXPHQWDUODYHORFLGDGVHRSWLPL]DQODVWUDHFWRULDVPHGLDQWHWpFQLFDVGHDSUHQGL]DMHV FXDQGR XQ SXQWR GH SDVR QR LPSOLFD RSHUDFLyQ OR TXH VLJQLILFD TXH QR HV SUHFLVDH[DFWLWXGHQHOSRVLFLRQDPLHQWR
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  35. 35. LQGLFDQGR FDGD SXOVR XQ SDVR R XQD IUDFFLyQ GH SDVR HVWH VLVWHPDUHTXLHUH XQD PHPRULD DGLFLRQDO OD LQLFLDOL]DFLyQ GHO SXQWR GH SDUWLGD FDGD YH] VHGHVFRQHFWDODDOLPHQWDFLyQGHODPiTXLQD/RV FRGLILFDGRUHV DEVROXWRV SURGXFHQ XQ QXPHUR FRGLILFDGR HQ FXDOTXLHUD GH ORVFyGLJRVEDVH HPSOHDGRV HQ OD DFWXDOLGDG ELQDULR QDWXUDO % *UD H[FHVR HQ WUHV HWF (OQ~PHURGHSDVRTXHVHSXHGHQFRQWDELOL]DUFRQXQDYXHOWDGHGLVFRGHSHQGHGHOQXPHURGHELWVHPSOHDGRVSRUHMHPSORVLXVDPRVHOFyGLJRELQDULRVLQFRQWUROGHSDULGDGFRQFXDWURVGHWHFWRUHV XQR SRU ELWV SRGHPRV FRQWDELOL]DU SDVRV SRU YXHOWD
  36. 36. HPSOHDQGR XQDSDODEUDGHELWVSDVRVDVtVXFHVLYDPHQWH1RQHFHVLWDQLQLFLDOL]DFLyQ/RVOHFWRUHVIRWRHOpFWULFRVRSWRHOHFWUyQLFRVPiVHPSOHDGRVQHFHVLWDQGHXQGLVFRRWDUMHWDSHUIRUDGD GH WDQWRV HOHPHQWRV OHFWRUHV FRPR SLVWDVWHQJD HO FRGLILFDGRU ORQJLWXG GH ODSDODEUD
  37. 37. XDQGR HO VLVWHPD GH OHFWXUD HV PDJQpWLFR HO VRSRUWH FRGLILFDGR HV XQ PDWHULDOVLPLODUDODVFLQWDVGHFDVHWHRIHULQDVPDJQpWLFDVORVGHWHFWRUHVVRQERELQDVGHOHFWXUDGH VXILFLHQWH VHQVLELOLGDG 3DUD DXPHQWDU OD HILFLHQFLD GH HVWRV VLVWHPDV GLVPLQXLU ODSRVLELOLGDG GH HUURU VXHOHQ HPSOHDUVH FyGLJRV UHGXQGDQWHV X RWUDV GLVSRVLFLRQHV PiVVRILVWLFDGDVDVtFRPRODFRPELQDFLyQGHGRVRPiVVLVWHPDVHWHFWRUHVDQDOyJLFRV(OWLSRGHGHWHFWRUXVDGRGHSHQGHGHOWLSRFDQWLGDGGHGHVSOD]DPLHQWRDPHGLUXDQGRHVPXSHTXHxRVXHOHQHPSOHDUVHJDOJDVH[WHQVLRPpWULFDVRUHVLVWRUHV%DOODVW(OVLVWHPDGHPDRU SUHFLVLyQ HV SUREDEOHPHQWH HO EDVDGRHQ OD UHIOH[LyQ GH XQ UDROiVHU HVWH WLSR GHWUDQVGXFWRUGHGHVSOD]DPLHQWRRIUHFHODYHQWDMDGHTXHVXKD]HVPRQRFURPiWLFRFRKHUHQWH HVWD ELHQ FROLPDGR HPSOHDQGR HO PpWRGR GH WULDQJXODFLyQ SXHGHQ GHWHUPLQDUVH ODSRVLFLyQH[DFWDGHFXDOTXLHUREMHWR/RV WUDQVGXFWRUHV PDJQpWLFRV VH GLYLGHQ HQ GRV FDWHJRUtDV WUDQVGXFWRUHV LQGXFWLYRV WUDQVGXFWRUHV SRU UHOXFWDQFLD /RV WUDQVGXFWRUHV GH GHVSOD]DPLHQWR LQGXFWLYRV FRQYLHUWHQXQ GHVSOD]DPLHQWR QRUPDOPHQWH OLQHDO
  38. 38. HQ XQ FDPELR GH OD DXWRLQGXFWDQFLD GH XQGHYDQDGRVLPSOH*HQHUDOPHQWH FRQVWDQ GH Q~FOHRPDJQpWLFR TXH VH PXHYH HQ HOLQWHULRUGHXQDERELQD(OPRYLPLHQWRGHWUDVODFLyQGHOHMHVHQVRUPRGLILFDODSRVLFLyQGHOQ~FOHRSRUWDQWRFDPELDODDXWRLQGXFFLyQGHODERELQDHVWHGHWHFWRUSXHGHLULQFRUSRUDGRDXQRVFLODGRU/GHWDOPDQHUDTXHDOFDPELDUODDXWRLQGXFWDQFLDYDUtDODIUHFXHQFLDGHVDOLGD6H GHQRPLQDQ WUDQVGXFWRUHV GH GHVSOD]DPLHQWR SRU OD UHOXFWDQFLD WRGRV DTXHOORVWUDQVGXFWRUHV TXH FRQYLHUWHQ XQ GHVSOD]DPLHQWR HQ XQD YDULDFLyQ GH WHQVLyQ VRODPHQWHIXQFLRQDQFRQFRUULHQWHDOWHUQD
  39. 39. (OPHGLRHPSOHDGRHVODYDULDFLyQGHOFLUFXLWRPDJQpWLFRH[LVWHQ D OR PHQRV GRV GHYDQDGRV IXQFLRQDQGR XQR GH HOORV FRPR H[FLWDGRU DOLPHQWDGRFRQFRUULHQWHDOWHUQDRWURFRPRH[FLWDGR(VWHWLSRGHWUDQVGXFWRUHVVHHPSOHDSDUDPHGLUWDQWRGHVSOD]DPLHQWRVOLQHDOHVHOSULPDULRGHOWUDQVIRUPDGRUGLIHUHQFLDOVH TXHGDILMRHO,VDtDV5RMDV3HxD
  40. 40. (VFXHODGH,QJHQLHUtD,QGXVWULDO± 8QLYHUVLGDGGHO0DUKLOHVHFXQGDULR VH GHVSOD]D FRQ HO HMH VHQVRU
  41. 41. FRPR DQJXODUHV OD FRUULHQWH JHQHUDGD SRU HOVHFXQGDULRRLQGXFLGRGHSHQGHGHOiQJXORH[LVWHQWHUHVSHFWRDOSULPDULR
  42. 42. HQWUR GH HVWD FDWHJRUtD VH FXHQWD ORV SRWHQFLyPHWURV GH LQGXFFLyQ TXH FRQVWDQ GH XQDERELQD WRURLGDO HQ VX LQWHULRU VH GLVSRQH XQD ERELQD SHUSHQGLFXODUPHQWH DO HMH GH JLUR SRUXQH[WUHPRVHH[WUDHODVHxDO$OLPHQWDQGRODERELQDWRURLGDOSULPDULR
  43. 43. FRQFRUULHQWHDOWHUQDHVWHGLVSRVLWLYRIXQFLRQDFRPRXQWUDQVIRUPDGRUGHUHOXFWDQFLDYDULDEOHVLHQGRODWHQVLyQSURGXFLGDSRUHOVHFXQGDULRERELQDGRLQWHULRU
  44. 44. IXQFLyQGHOiQJXORJLUDGRUHVSHFWRGHOSXQWRGHRULJHQRGHPi[LPDWHQVLyQXDQGR OD VHxDO UHTXHULGD WHQJD TXH VHU GH FRUULHQWH FRQWLQXD SXHGHQ HPSOHDUVHSRWHQFLyPHWURV UHVLVWLYRV WDQWR ORQJLWXGLQDOHV FRPR FLUFXODUHV SUHIHUHQWHPHQWHPXOWLYXHOWD FDSDFHV GH SURSRUFLRQDU PHGLGDV VREUH iQJXORV VXSHULRUHV D ORV ƒ (VWRVGLVSRVLWLYRVQHFHVLWDQXQDDOLPHQWDFLyQGLUHFWDVLHQGRVXVDOLGDHQYROWDMHSURSRUFLRQDODOGHVSOD]DPLHQWRGHOFXUVRU %LEOLRJUDItD7DOOHUGHHOHFWUyQLFD(GLWRULDO(GLVD(VSDxD,QIRUPDFLyQUHFLHQWHIRWRJUDItDVGH,QWHUQHW,VDtDV5RMDV3HxD

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