Original title: Senzorika a řízení pohybu pro humanoidního robota
Translated title: Sensors and motion control for humanoid robot
Authors: Chlaň, Jakub ; Křivánek, Václav (referee) ; Najman, Jan (advisor)
Document type: Master’s theses
Year: 2020
Language: slo
Publisher: Vysoké učení technické v Brně. Fakulta strojního inženýrství
Abstract: [slo] [eng]
Predložená diplomová práca sa zaoberá návrhom a skonštruovaním jednoduchého humanoid-ného robota s dvoma končatinami upevnenými na trupe. Práca bola riešená ako tímový projekt dvoch autorov. Preto je podrobnejšie popísaná len konštrukcia končatiny, ktorá je inšpirovaná kinematikou ľudskej končatiny a jej konštrukcia bola úlohou autora. Nezanedbateľnou súčasťou práce je výber pohonov a senzorov pre fungovanie mechanizmu. Ďalej je v práci uvedený postup tvorby kinematického modelu končatín pre riešenie doprednej a inverznej kinematickej úlohy. Pre možnosť riadenia pohybu bolo tiež navrhnuté ovládanie riadiacej jednotky pomocou Simulinku a vytvorená regulácia pohonov. The presented diploma thesis deals with the design and construction of a simple humanoid robot with two arms attached to a torso. The work was solved as a team project of two authors. Therefore, only the construction of the arm, which is inspired by the kinematics of the human arm is described in more detail. Its construction was the task of the author. An important part of the work is the selection of drives and sensors for the operation of the mechanism. Furthermore, the work presents the procedure of creating a kinematic model of the arms to solve the forward and inverse kinematics problem. For the possibility of motion control, the control of the control unit in Simulink was designed and the drive control was created.
Keywords: Arduino; feedback control; Humanoid; industrial manipulator; inverse kinematics; kine-matics; PID controller; sensors

Institution: Brno University of Technology (web)
Document availability information: Fulltext is available in the Brno University of Technology Digital Library.
Original record: http://hdl.handle.net/11012/193029

Permalink: http://www.nusl.cz/ntk/nusl-545602


The record appears in these collections:
Universities and colleges > Public universities > Brno University of Technology
Academic theses (ETDs) > Master’s theses