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Robot for disabled drivers
Amler, Ivo ; Kopečný, Lukáš (referee) ; Šolc, František (advisor)
Project deals with design of a control system for control of electric vehicle for disabled persons. The project represents a feasibility study that will be used for construction of a real system. For gaining information about position of the vehicle, it was managed to create only incremental sensor for calculation these position.
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Modelling and Using of McKibben Pneumatic Muscle in Haptic
Kopečný, Lukáš ; Janotková, Eva (referee) ; Nevřiva,, Pavel (referee) ; Šolc, František (advisor)
This work describes exceptional properties of McKibben pneumatical muscle and introduces its state-of-the-art model. The mathematical model is extended especially in a field of a thermodymical behavior. A new model applies a method used for describing of a thermodynamical behavior of pneumatic cylinders until now. This method is significantly upgraded to fit a muscle behavior, particularly by considering a heat generated by a muscle internal natural friction. The model is than verified and discussed with a real system. The haptic part introduces a development and design of a haptic glove interface for the use in robotics, especially in telepresence, or in VR. The force and touch feedback is provided by Pneumatic Muscles controlled by an open loop algorithm using the introduced mathematical model. The design is light and compact.
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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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Multi-Way robotic wheelframe
Krsek, Jiří ; Kopečný, Lukáš (referee) ; Šolc, František (advisor)
The master's thesis deals with a theoretical analysis of properties of a multi-way wheelframe and a selection of an appropriate method for the human operator control. Based on the analysis will be designed hardware and software of the control unit for controlling the movement of the robot's multi-way wheelframe. The electronic system will ensure a real-time processing the operator's instructions to control signals for the motors that will drive and implement the required angles of two driven wheels of the chassis. The proposal also reflects a sufficient equipment with input-output channels for any subsequent extension of additional sensors for testing the autonomous robot operation.
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Modelling and control of wheeled mobile robots
Sypták, Michal ; Šembera, Jaroslav (referee) ; Šolc, František (advisor)
Control of wheeled chassis does not constitute a problem in the area of mobile robotic solely. Rather, it can be encountered in transportation, both at close range and long range. In this thesis, mobile chassis are characterized as kinematic models. These models prove to be erroneous at high speed, whereas they sufficiently accurately represent the real robotic system in situations when slow, autonomous motion of the robot is desired. In comparison with dynamic models, both their project and implementation are simpler, too. The first part of this thesis is focused on a basic description of the motion of a robot in-plane. In the next part, five, most frequently used wheels in robotics are described and characterized - standard fixed wheels, standard steering wheels, castor wheels, multidirectional wheels and omnidirectional wheels. The motion conditions are deduced from each type of wheel. There are two methods of projecting the mobile robot model – full modelling and generic modelling. Based on these two methods, six models of mobile robots with different motion properties are proposed and described. The last and most extensive part of this thesis deals with simulator of robot motion created in Matlab/Simulink. It includes users guide which allows the configuration of random chassis and various trajectories of motion. In this way, it is possible to visually evaluace and classify the the different types of robots. The core of this thesis is largely connected with the field of odometry – i.e. transformation output from speed sensor and turning of wheels sensor into the robot position in the system of coordinates that defines its working space. Simulator as complex only model motion of mobile robots in plain. Its inside structure included algoritms, that have been used in praxis for control real mobile robots. In this way created Simulator models the motion of mobile robots in-plain only. However, its inside structure is based on algorithms, that could be used for control of real mobile robots in real-life working.
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Control of multiple-steer vehicle
Krsek, Jiří ; Kopečný, Lukáš (referee) ; Šolc, František (advisor)
The subject matter of the bachelor thesis is a creation of functional model of mobile robot equipped with multiple-steer chassis. The robot will have its own control unit consisting of 32-bit processor and wireless communicatin unit, which enables the contact with superset system. The superset system serves as visualization interface robot - operator and enables to enter the data for requested movement of robot. The calculation of movement of each actuator is ensured by control unit of robot.
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Design, production and testing of education model "Helicopter with two rotors"
Zouhar, František ; Šolc, František (referee) ; Grepl, Robert (advisor)
This work deals with designing and testing of education model "Helicopter with two rotors". The first part is focused on the consturction. Function requirement and set of options of solutions appointed. One of options is chosen and developed by 3D CAD systems. Balance-sheet of possible materials is elaborated in the maximum level available motor pull. Central placing of model is proposed to be able to move in 3 axes. The force electronic are designed and constructed in the second part. Suitable sensors, control method of motor speed and power support are chosen. According to this part the printed circuit board is created, which work as interface between PC (card MF624) and helicopter. In the last part model parameters are identificated and PID control is constructed. Selection procedure of parameters is analyzed in detail, each difficulties are mentioned and obtained data are evaluated. PID control is realized by degrees with regard to complexity of controlling the axes. Problems with disturbance and its impact on control is discussed also.
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Robot for disabled drivers
Amler, Ivo ; Kopečný, Lukáš (referee) ; Šolc, František (advisor)
Project is concerned with the design of a control system for control of electric vehicle for disabled persons. The project represents a feasibility study that will be used for construction of a real system. There were created incremental sensors for getting information about position of the vehicle and also unit with these functions: - USB joystick for vehicle driving, - Digital outputs control, - Getting information about position of the vehicle and its steering angle by RS232.
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