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Virtual commissioning of a robotic palletizing system
Novák, Tomáš ; Bražina, Jakub (referee) ; Vetiška, Jan (advisor)
Diploma thesis deals with a conceptual design and virtual commisioning of robotic palletizing system. The theoretical part of the diploma thesis deals in the first part of research with the current state of knowledge in the robotics implementation in the industry, definitions of virtual commisioning and softwares needed to make it happen. The second part is focused on the development and proceses of palletization. In the practical part is created a model exercise, described 3 designs of robotic cells, choice of the final design to virtual commision, components design, robot design and gripper design. The main part of the diploma thesis is focused on creating a simulation in software Process Simulate, design of control program and HMI in the interface of software TIA Portal and implementation of robotics programs to Robot Studio. The final result and the validation of virtual commisioning and single purpose machines was recorded and attached in the work attachment.
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Robotic Manipulator Exploiting RC Components and Servos
Liška, Jakub ; Nosko, Svetozár (referee) ; Zemčík, Pavel (advisor)
Cieľom tejto diplomovej práce bolo vytvorenie vlatného robotického manipulátoru, s pou-\\žitím RC(diaľkovo ovládaných) komponentov a servomotorov. V rámci riešenia bolo potre-\\bné robotický manipulátor vybaviť senzorikou, ktorá umožnuje detekciu kolízii s okolím a zabezpečuje tak bezpečnosť obsluhy v pracovnom priestore manipulátoru. Robotický manipilátor je taktiež vybavený absolútnimi enkódermi pre snímanie polohy jednotlivých kĺbov, akcelerometrom a senzormi pre meranie záťaží pôsobiacich na jednotlivé kĺby. O pohyb ramena sa starajú štandardné krokové motory. Samotné telo robotického manipulátoru bolo navrhnuté s ohľadom na jednotlivé komponenty a je možné ho vyrobiť pomocou 3D tlače. Súčastou riešenia je aj užívateľské rozhranie, pomocou ktorého je možné robotické rameno ovládať.
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Robotic Arm Exploiting RC Components and Servos
Bobčík, Petr ; Kapinus, Michal (referee) ; Zemčík, Pavel (advisor)
Cílem této práce bylo postavit vlastní robotické rameno, s využitím RC komponent, serv a dodat k němu i vlastní uživatelské rozhraní, které umožní jeho řízení. Součástí řešení bylo také opatřit robotické rameno potřebnou senzoriku, která by umožnila jistou míru autonomnosti. Pro mé řešení jsem se rozhodl upravil již existující design robotického ramene, s pěti stupni volnosti, založeném na krokových motorech. Přidal jsem senzory, jako je akcelerometr, enkodér, měřič proudu, laserové měření vzdálenosti a kameru. Na základě těchto senzorů je robotické rameno schopné detekovat náraz, pozici odpojených motorů, uchopení předmětu uchopovacím mechanizmem nebo měřit vzdálenost předmětu v prostoru za účelem inverzní kinematiky. Vytvořil jsem také jednoduché uživatelské rozhraní, které umožňuje tři typy ovládání, jako je ovládání jednotlivých kloubů samostatně, autonomně s využitím kamery nebo ručním napozicováním.
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Virtual commissioning of multi-axis manipulator
Slavík, Vojtěch ; Radil, Filip (referee) ; Štěpánek, Vojtěch (advisor)
This thesis deals with the design and virtual commissioning of multi-axes manipulator, that will be able to create figures using spherical segments according to a template. In the design, emphasis is placed on the visual appearance and simple operation of the manipulator. The thesis presents the design of the model, methods for inverse kinematics solving, communication of used software and the robot control.
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Automated object tracking using robotic manipulator
Zelený, Miroslav ; Ligocki, Adam (referee) ; Chromý, Adam (advisor)
This diploma thesis deals with the tracking of objects using a robotic manipulator Epson C3 and a color camera. The work describes the basic qualities of the device to be used. The OpenCV library and its wrapper EmguCV are used as software tools for computer vision. It discusses the basic issues and principles of tracking objects in the image and introduces some methods of tracking. These methods have been tested and therefore their strengths and weaknesses, which appeared during testing, are listed here. Furthermore, there is a procedure for calculating the new coordinates of the camera and the manipulator effector using homogeneous transformations. The work contains the results of testing the algorithms and their evaluation. The output of the work is a test application for the Epson C3 robot.
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Robotic manipulator for ionizing radiation sample measurement
Míček, Vojtěch ; Štohl, Radek (referee) ; Petyovský, Petr (advisor)
This bachelor thesis is interested in designing of robot manipulator for measurement of active samples for ionizing radiation laboratory of Department of Electrical Power Engineering VUT Brno. The goal is to create robotic manipulator which will be easy to manufacture, easy to control, absolutely reliable, cheap and accurate enough. So, it will radically reduce time consumption of measurement of neutron field. Construction is based on FM-SYSTEME aluminium structural framing, manipulator is controlled by Arduino Nano and movement is provided by stepper motor Microcon SX23-1414 and drver TMC2208.
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Design of a robot gripper
Stoszek, Šimon ; Hůlka, Tomáš (referee) ; Matoušek, Radomil (advisor)
This bachelor's thesis is focused on robotic end-effectors, grippers in particular and is bringing their general overview. The goal of the thesis is to design, assemble and program a three finger gripper. The effector is designed using ROBOTIS Premium building set, especially Dynamixel actuators, obstacle detector and Bioloid frames, 3D printed parts. It is possible to use this three finger gripper in two configurations: centric for grasping spherical objects and parallel for grasping cylindrical objects. Functionality of this end-effector was successfully experimentally verified. Main benefits of the gripper are: its ability to adapt to shape and size of grasped object and to automatically initiate its grasping.
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Robotic Arm with Model Servos
Bobčík, Petr ; Nosko, Svetozár (referee) ; Zemčík, Pavel (advisor)
The main goal of this thesis was to create my own robotic manipulator, which is controlled by its own user interface. I made a robotic arm based on computer Raspberry Pi 3B+ with 5 digital servos and a gripping mechanism in the form of a claw, to which I also attached a laser pointer. The user interface problematics was solved by creating a simple web page (combination of HTML, PHP and JS), which i placed into the Apache 2 web server (installed in Raspberry Pi). I successfully incorporated a way to control the servo one by one and how to control the whole arm with inverse kinematics into the user interface.
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Implementing the checkers game using a robotic manipulator
Lichosyt, David ; Ligocki, Adam (referee) ; Lázna, Tomáš (advisor)
The thesis starts with a field research about existing robotic systems with implemented checkers or similar desk games. In its next parts are described posibilities of controling robotic manipulator Fanuc LR Mate 200iD 4S using controller R-30iB Mate from platform ROS located on external hardware. In few next pages of the thesis there are mentioned designed and used physical models. Following chapters describe real time game situation detection, game logic implementation and human input with safety in mind. At the end of the thesis there are mentioned rule checking algorithms, system operation instructions and possible future upgrades of the system.
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