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dc.contributor.authorVergara-Ramirez, Carlos
dc.contributor.authorCastañeda-Arias, Nelson
dc.contributor.authorMéndez-Carvajal, Nicolás
dc.contributor.authorCastiblanco-Ávila, David
dc.date.accessioned2023-08-17T13:28:39Z
dc.date.available2023-08-17T13:28:39Z
dc.date.issued2022
dc.identifier.issn2390-0504spa
dc.identifier.urihttps://hdl.handle.net/20.500.14329/578
dc.description.abstractDurante la última década la robótica móvil ha tenido grandes avances en el desarrollo de equipos, permitiendo realizar labores riesgosas para el ser humano, debido a que sus características brindan la posibilidad de explorar lugares desconocidos. En este artículo se analiza el consumo energético de la plataforma comparando dos estrategias de control: posición y velocidad. La plataforma se expuso a una trayectoria polinómica de quinto orden, en la que ambos casos debían recorrerla y demostrar, a partir de índices de desempeño, su respectiva robustez frente a perturbaciones en las ruedas del dispositivo, así como las modifi caciones porcentuales de sus características. Mediante la teoría de la potencia media, al finalizar el recorrido se verificó cuál de los dos casos de control era el más eficiente energéticamente.spa
dc.description.abstractMobile robotics during the last decade has made progress in the development of equipment that manages to perform risky tasks for humans, because its characteristics provide the pos sibility of exploring unknown places. In order to analyze the energy consumption of the platform, two control strategies were compared, both for position and speed control. The analysis methodology proposes that the platform was exposed to a fifth order polynomial trajectory, in which both cases had to travel it and demonstrate, based on performance indices, its respective robustness against disturbances in the wheels of the device, as well as that of modifications. percentage to the characteristics of the platform, at the end of the tour by means of the average power theory it was verified which of the two control cases is the most energy efficient.eng
dc.format.extent19 páginasspa
dc.format.mimetypeapplication/pdfspa
dc.language.isospaspa
dc.publisherUniversidad Librespa
dc.rights.urihttps://creativecommons.org/licenses/by-nc/4.0/spa
dc.titleAnálisis energético de una plataforma robótica móvil de tipo diferencialspa
dc.typeArtículo de revistaspa
dc.rights.licenseAtribución-NoComercial 4.0 Internacional (CC BY-NC 4.0)spa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.type.coarhttp://purl.org/coar/resource_type/c_2df8fbb1spa
dc.type.driverinfo:eu-repo/semantics/articlespa
dc.type.versioninfo:eu-repo/semantics/publishedVersionspa
dc.identifier.instnameEscuela Tecnológica Instituto Técnico Centralspa
dc.relation.citationendpage57spa
dc.relation.citationissue32spa
dc.relation.citationstartpage39spa
dc.relation.ispartofjournalINGENIAREspa
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dc.subject.proposalPlataforma móvil
dc.subject.proposalControl por rechazo activo de perturbaciones
dc.subject.proposalSistemas no lineales
dc.subject.proposalControl GPI
dc.subject.proposalSeguimiento de trayectoria
dc.title.translatedEnergy analysis of a mobile robotic platform of a differential type
dc.type.coarversionhttp://purl.org/coar/version/c_970fb48d4fbd8a85spa
dc.type.contentTextspa
dc.type.redcolhttp://purl.org/redcol/resource_type/ARTspa
dc.rights.coarhttp://purl.org/coar/access_right/c_abf2spa


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