Desarrollo de un sistema de control de seguridad para la plataforma Stewart de la Universidad de los Andes
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2017
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"En esta tesis se exploró el modelado con redes de Petri para desarrollar un sistema de control de seguridad para la plataforma Steward del departamento de ingeniería mecánica de la Universidad de los Andes. Este debido a que esta plataforma no tiene ningún sistema de seguridad. Para alcanzar esto, se realizó un modelo de eventos discretos utilizando redes de Petri, en donde se dividió el movimiento en micro pasos, en donde se considera la cinemática de la plataforma, los puntos de posición extrema, las posibles fallas geométricas, además se le agrego un botón de parada de emergencia para el usuario. Debido a que la plataforma no se encontraba funcional en el momento que se realizó este proyecto, se debió validar el modelo mediante el diseño de una aplicación en Matlab la cual funciona como un programa que simula la plataforma."-- Tomado del Formato de Documento de Grado
"This thesis explored the use of Petri Net modeling in order to develop a safety control system for the Steward platform of the Mechanical department at Los Andes University. This due to the fact that this platform does not have any safety system. To achieve this, we performed a model of discrete events using Petri networks where we divided the movement into micro-steps in which we consider the kinematics of the platform, as well as the robot singularities, the possible geometric faults, and we also added an emergency stop button for the user. This model was validated by designing an application in Matlab that works as a simulation program of the platform. The model could not be implemented into the platform because it was not functional at the time we were making this project."-- Tomado del Formato de Documento de Grado
"This thesis explored the use of Petri Net modeling in order to develop a safety control system for the Steward platform of the Mechanical department at Los Andes University. This due to the fact that this platform does not have any safety system. To achieve this, we performed a model of discrete events using Petri networks where we divided the movement into micro-steps in which we consider the kinematics of the platform, as well as the robot singularities, the possible geometric faults, and we also added an emergency stop button for the user. This model was validated by designing an application in Matlab that works as a simulation program of the platform. The model could not be implemented into the platform because it was not functional at the time we were making this project."-- Tomado del Formato de Documento de Grado