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Control unit of four - legged robot based on microcontroller PIC
Youssef, Daniel ; Lamberský, Vojtěch (referee) ; Grepl, Robert (advisor)
This Bachelor thesis develops “Jaromir“, a four legged robot by adding appropriate sensors to it and designing a new control unit that is able to receive and process the acquired data by the sensors. The functionality of the control unit is tested by implementing a number of simple movements. This testing demonstrates the possibility of using this unit for the developing and testing of complex movement algorithms.
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Testing platform with 3 dof
Spáčil, Tomáš ; Houfek, Lubomír (referee) ; Grepl, Robert (advisor)
This thesis deals with development and construction of parallel manipulator with three degrees of freedom whose assumption of usage is testing tanks for NH3. In this work we are going to investigate the design of the mechanism in Matlab Simulink. Design of the electronic is introduced and also the control program is developed. The result of the work will be a prototype of manipulator.
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Control of Nonlinear Systems using Local Approximation Methods
Brablc, Martin ; Bugeja, Marvin (referee) ; Grepl, Robert (advisor)
Tato práce se zabývá návrhem adaptivního řídícího algortitmu pro konkrétní třídu elektromechanických aktuátorů, založeného na principu dopředného řízení pomocí inverzního dynamického modelu. Adaptibilita řízení spočívá v mechanismu získání inverzního dynamického modelu. Tato práce se zaměřuje na jeho online aproximaci pomocí lokálních aproximačních metod. Výstupem práce je shrnutí analýzy, simulačního testování a reálných experimentů, které testovaly možnosti praktického využití lokálných aproximačních metod pro účely adaptivního řízení v reálném prostředí.
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Design of laboratory model of Inverse Pendulum
Dušek, Jiří ; Grepl, Robert (referee) ; Šolc, František (advisor)
Purpose of this Bachelor’s thesis was to set matemathic laboratory model fixture of „Inverted penduluem“ togther, to verify it and on this base to create simulating model. Furthermore for this simulating model system to create way its controling in „stabilisation in upper instable location“ mode and in „crane during moving with the load“ mode. For operation in both modes was state-feedback regulator chosen and projected by method LQR, which was applied after that to real model of laboratory fixture. Realization of exsisting system was described and during using incremental rotary encoder and I/O card of new type was modernized. Further possibility of operation of carriage travel of pendulum by voltage supply was examined. Rotation version of laboratory model fixture was projected and alternative driving facilities were selected.
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Design and implementation of education model "Oscilator 1 dof"
Deďo, Michal ; Houfek, Lubomír (referee) ; Grepl, Robert (advisor)
The purpose of bachelor’s thesis is the design, implementation and testing of the educational model oscillator with one degree of freedom ", which should provide students with the possibility of closer assimilation of events generated by the oscillation, as well as to familiarize the student with the control model through Real Time Toolbox and evaluating the results of measurement. Work should provide students with real-time overview of these problems, which, in the future may bring to light the causes, or even prevention of disorders caused by oscillation.
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Application of MATLAB Coder for automatic generation of C code for dsPIC microcontrollers
Mácha, Tomáš ; Křivánek, Václav (referee) ; Grepl, Robert (advisor)
Generating C code from MATLAB can be a powerful tool for a wide range of engineering problems. Especially in cases where MATLAB excels, including matrix operations and some of the built-in functions, code conversion may represent a significant assistance in their development. The aim of this master's thesis is to explore the possibilities of generating C code using MATLAB Coder App. As the documentation for MATLAB Coder was not found sufficient a theoretical basis for the use of this tool was introduced along with simple examples of possible applications. Next, code generation for controlling a laboratory DC motor using a microcontroller dsPIC was made automatic and controlled directly from a single MATLAB script. Individual steps were described to supplement existing documentation and to allow for an easy use. Finally, selected functions were tested for code generation. As a result, certain limitations can be outlined, as well as suitability of both the created tool and the MATLAB Coder App.
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Design and implementation of education model "Air levitation"
Horák, Petr ; Krejsa, Jiří (referee) ; Grepl, Robert (advisor)
This work deals with design, processing, animate and setting parameters of education model of air levitation. At the beginning is stated search essay deal with levitation. As the next tehere is a couple of examples of physical model, realization, following describing construction and realization of model. Next step was choise of sensor, actuation and electric supply of this model. Following design of communications unit, electronics and cableway used to connect model with PC control card MF 624. The last step was design real-time control system via program Matlab Simulink 2007b using Real Time Toolbox 4.0 made by Humusoft, realization of this system and its settings
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Analysis and modeling of sensors and actuators of LEGO Mindstorm
Hanuš, Pavel ; Sova, Václav (referee) ; Grepl, Robert (advisor)
The focus of this thesis is a detailed analysis and modeling of selected sensors and actuators of programmable robotic kit LEGO Mindstorms NXT 2.0. Actuators are represented by servomotors and the selected sensors include a color and an ultrasonic sensor, both available in the basic version of the kit, and a gyro sensor made by HiTechnic. The thesis describes the realization and evaluation of experiments performed for each element resulting in graphical representations of the sensors’ properties, models in Simulink environment representing the respective elements, and datasheets – overviews of parameters and characteristics of the individual sensors and actuators. The detailed analysis of the sensors and servomotors of the kit provides an overview of the possibilities, but also the limitations of the particular elements. This knowledge can be subsequently used for a wide range of possible applications of the kit.
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