Diseño e implementación de un sistema de control híbrido para exoesqueleto de miembro superior con énfasis en muñeca

dc.contributorAvilés Sánchez, Oscar Fernando
dc.contributorAponte Rodríguez, Jorge Alexander
dc.creatorAvilés Carrillo, Valeria
dc.date.accessioned2021-08-26T22:19:17Z
dc.date.accessioned2022-09-28T21:29:36Z
dc.date.available2021-08-26T22:19:17Z
dc.date.available2022-09-28T21:29:36Z
dc.date.created2021-08-26T22:19:17Z
dc.date.issued2021-03-19
dc.identifierhttp://hdl.handle.net/10654/38507
dc.identifierinstname:Universidad Militar Nueva Granada
dc.identifierreponame:Repositorio Institucional Universidad Militar Nueva Granada
dc.identifierrepourl:https://repository.unimilitar.edu.co
dc.identifier.urihttp://repositorioslatinoamericanos.uchile.cl/handle/2250/3745998
dc.description.abstractEn este trabajo se expone el desarrollo de tres estrategias de control para un exoesqueleto de muñeca de tres grados de libertad, las cuales garantizan el correcto funcionamiento al moverse dentro de los rangos anatómicos de forma suave. El referido documento enfatiza en la implementación de un control híbrido, ya que, podría ser la opción más idónea al tener la capacidad de integrar variables no solo de posición sino también de fuerza que harán más robusto el funcionamiento del dispositivo de rehabilitación al tener en cuenta la interacción con el entorno, sin embargo, se realizó un estudio comparativo de este controlador con respecto a dos controladores clásicos muy implementados: PID y PD+, con el fin de demostrar las ventajas de utilizar un control híbrido en una aplicación como esta. En este documento se presenta la metodología requerida para asegurar las posiciones y velocidades en un exoesqueleto de muñeca, incorporando estudios de diseño, modelado y simulación a través de herramientas como SimScape ofrecidas por Matlab.
dc.languagespa
dc.publisherIngeniería en Mecatrónica
dc.publisherFacultad de Ingeniería
dc.publisherUniversidad Militar Nueva Granada
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dc.rightshttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rightsinfo:eu-repo/semantics/openAccess
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dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International
dc.rightsAcceso abierto
dc.titleDiseño e implementación de un sistema de control híbrido para exoesqueleto de miembro superior con énfasis en muñeca


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