Control y generación de trayectorias de un nuevo sistema de locomoción para sillas de ruedas con capacidad para subir y bajar escaleras

LA TESIS PRESENTADA MUESTRA UN ORIGINAL AVANCE EN LA TECNOLOGIA EXISTENTE PARA LA AUTO LOCOMOCION DE PERSONAS CON ALTO GRADO DE MINUSVALIA PERMITIENDO LA SUPERACION DE BARRERAS ARQUITECTONICAS. COMO PRINCIPALES APORTACIONES DE ESTA TESIS SE HAN DE RESALTAR LAS SIGUIENTES: EN PRIMER LUGAR, SE HA REALIZADO UNA CORRECTA METODOLOGIA DE TRABAJO A LA HORA DE REALIZAR EL DISENO, IMPLANTACION Y VERIFICACION TANTO DEL SISTEMA SENSORIAL COMO DE LA UNIDAD DE CONTROL DEL PROTOTIPO DESARROLLADO. EN SEGUNDO LUGAR, SE HA DESARROLLADO UN MODELO CINEMATICO, UN MODELO DE CALIBRACION Y UN GENERADOR DE TRAYECTORIAS BASADO EN REPRESENTACION COMPLEJA QUE HACE USO DE LOS GRADOS DE LIBERTAD ADICIONALES DEL PROTOTIPO CON LA FINALIDAD DE CONSEGUIR UN MAYOR CONFORT PARA EL PASAJERO. FINALMENTE, SE HA DESARROLLADO UN ALGORITMO DE CONTROL BASADO EN MODOS DESLIZANTES Y EN LA INFORMACION OBTENIDA POR EL SISTEMA SENSORIAL DEL PROTOTIPO CON LA FINALIDAD DE CONSEGUIR UNA MEJOR ADAPTACION DINAMICA AL ENTORNO.

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