Contributions to visual servoing for legged and linked multicomponent robots

Esta tesis reporta dos aportaciones principales a las areas de robotica y Visual Servoing: una aproximacion de Visual Servoing para robots multi-podos, y contribuciones al modelado, control y Visual Servoing de Sistemas Roboticos Multi-Componentes Ligados (Linked MCRS). Ademas hemos realizado una revision exhaustiva sobre Visual Servoing. Hemos desarrollado una construccion formal y rigurosa de la Jacobiana de la imagen para un robot multi-podo generico, basado en la minimizacion del error visual y teniendo en cuenta todos los grados de libertad del robot. Nos hemos especializado en el robot Aibo ERS-7 de Sony, construyendo la implementacion del control en el robot. Hemos realizado una experimentacion empirica sistematica para estimar el rango de aplicacion del modelo y su sensibilidad. Los MCRS Ligados consisten de un grupo de robots transportando un objeto pasivo uni-dimensional (cable o manguera). Este es el primer estudio formal, del que tenemos conocimiento, para estos sistemas. Hemos construido un modelo de la dinamica del sistema basado en splines dinamicos que permite la simulacion del sistema, incluyendo alogritmos de control heuristicos para los robots. Este modelo permite el estudio del efecto de varios parametros de la manguera, como el peso, rigidez y posiciones de los robots. Ademas hemos derivado analiticamente de este mdelo la cinematica inversa para el movimiento de la manguera desde una configuracion inicial a una configuracion deseada. Finalmente, hemos realizado experimentos fisicos de control visual centalizado de sistemas MCRS Ligados con un grupo de robots SR1 que trasladan un cable electrico relativamente rigido, que ademas es el primer intento de realizar este tipo de sistemas.

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