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Modelování a řízení pohybu humanoidního robotu
Sokolová, Alexandra ; Houfek, Lubomír (referee) ; Grepl, Robert (advisor)
With the rise in popularity of mobile robots in our day-to-day life and their advantages in exploration, we need to explore a broader scope of methods of movement that would allow these machines to comfortably live by our sides or access the terrain which is inaccessible to humans. We have long since realised that wheels do not allow for the necessary range of movement within environment that is harder to navigate. As a result, the development of robots with legs has seen a rapid rise in prominence in the recent years. Within this text we explored the possibilities of design of one such robot, a monopedal hopper with a foot, and then created a model in SimScape Multibody with the final result being a short choreography displaying the robot’s abilities to move in space, such as: crouching and jumping on and over obstacles.
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Embedded Control of Non-Contacting Waveguide Sliding Short
Horvát, Martin ; Pánek, Richard (referee) ; Strnadel, Josef (advisor)
Táto práca sa zaoberá návrhom a implementáciou softwarového riadiacého systému pre bezkontaktný nastaviteľný vlnovodový skrat použitím krokového motoru. Predstavuje návrh systému ktorý podporuje implementáciu ľubovolného komunikačného protokolu, a ktorý môže byť použitý s ľubovoľným krokovým motorom. Predstavený návrh bol implementovaný na mikrokontroléry Texas Instrument AM243x Sitara, využitím operačného systému reálneho času FreeRTOS. Systém podporuje komunikáciu cez automatizačný protokol EtherNet/IP, a cez prispôsobený seriový textový protokol využívajúci UART. Systém bol testovaný a vyhodnotený pomocou testou presnosti pozície, reprodukovatelnosti pozície a testom fázového posunu odrazenej vlny.
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Extension of the magnetic manipulator teaching model using a microcontroller for independent operation
Štupák, Jakub ; Králík, Jan (referee) ; Appel, Martin (advisor)
This thesis deals with the design, control and user interface for a magnetic manipulator. Created magnetic manipulator uses three electromagnets, which are used to control the position of a steel ball. The objective of this work was to enhance and extend the functionality of this system, including adding the ability for autonomous operation. Regulation can be executed through either an externally connected HUMUSOFT card or an integrated microcontroller. This enables the use of this system without external hardware and simplifies manipulation. Communication between the system and user is enabled with the use of the ESP32 Bluetooth functionality and an Android app.
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Locus Map Extension for Communication between Units on the Battlefield
Bukas, Jozef Michal ; Rychlý, Marek (referee) ; Hranický, Radek (advisor)
Existuje mnoho systémov riadenia bojiska, ale nie sú dostupné pre širokú verejnosť. Mnohé používateľské základne by však takýto systém mohli využiť. Napríklad nadšenci milsimu, záchranné služby, prípadne poľovníci počas organizovaných poľovačiek. Cieľom tejto bakalárskej práce je vytvoriť open-source rozšírenie systému riadenia bojiska pre aplikáciu Locus Map. Samotný klient bol implementovaný ako Android aplikácia ktorá využíva Locus API na integráciu do aplikácie Locus Map ktorá dopĺňa klienta mapou a funkciamy s ňou spojenými. Samotný system používa architektúru klient-server kde komnukácia medzi serverom a klientom používa protokol WebSocket pre skoro okamžitú propagáciu dát zo serveru ku klientom. Nakoniec bol tento systém otestovaný priamo v akcií napríklad na dvoj-dňovej airsoftovej akcií.
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Control of ball and plate system
Bednář, Ladislav ; Bartík, Ondřej (referee) ; Veselý, Libor (advisor)
The goal of this work is to design a control algorithm for position controlling of the ball on 2D plate with feedback implemented by camera. Frist part is devoted to the design of steper motor controller, that is controlled by analog inputs. Controller was tuned on CompactRIO platform later replaced with microprocessor by Freescale. PCB design for microprocessor board is included. Next we described controlled system by mathematical model, which we use for PID controller design. Mathematical model is designed in linear form and nonlinear form, which analyze nonlinearity of rolling friction. Image processing with control loop is contained in Matlab-Simulink workspace. At last, laboratory task is designed.
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Analysis and evaluation of technical systems of motor operators of circuit breakers
Hurbanič, Jakub ; Valenta, Jiří (referee) ; Dostál, Lukáš (advisor)
This bachelor thesis was created as a overview and analysis of drive systems for moulded case power circuit breakers. There si an introduction to motor operators and their possible use with remote control and use in future in name of digitalization and elektrification. Also there is listed an analysis of opertors depending on the method of installation, switching power and the operator itself i.e. electric motor or electromagnet. There is mentioned the possibilities of controll and power supply of these operators and the positions of circuit breaker. In the end a small market analysis is executed and a short chapter dealing with measurment of electric motor operator in OEZ s.r.o. company.
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Modelling, identification and control of robotic manipulator
Šuranský, Michal ; Krejčí, Petr (referee) ; Grepl, Robert (advisor)
Main aim of this master’s thesis is to identify, model and control robotic manipulator with three degrees of freedom. The thesis is a part of major project [17], the aim of which is to create an educational platform. In the thesis the simple PID control and the PID with feedforward compensation control is tested on the model of simple pendulum. In the next part models of DC motors, which are used for construction of the manipulator, are developed and the inverse dynamics model of manipulator is developed. This model is used for feedforward control of the manipulator. In the final part the application was developed, which allows the manipulator to be taught some movements, which can be later on, executed. For the simple control of the application the graphical user interface was programmed.
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Design and implementation of the control for the robotic cell
Mbontar, Patrik ; Pochylý, Aleš (referee) ; Kubela, Tomáš (advisor)
This master´s thesis thesis deals with the design of software for the control of a robotic cell, which consists of two KUKA robots and a belt conveyor. The robots will perform robotic operations similar to those in real industrial practice. At the beginning of the work will be the state of current knowledge. A key part will be the design of software for robotic cell control in the TwinCAT environment from Beckhoff. The robots and the conveyor will be controlled by a superior PLC, which will be commanded from the designed software using the HMI. The goal is to successfully implement the proposed software for robotic cell control and monitoring using a unique visualization, which will be designed specifically for the robotic cell and its associated manipulation operations.
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Control of smart house model
Becová, Lucia ; Arm, Jakub (referee) ; Štohl, Radek (advisor)
My thesis deals with the control of intelligent and comfort house. The first chapter contains a model of the irrigation system , recovery of the electronics and simple applications for testing. The second chapter deals with the recovery model of gate and garage doors. The third chapter is focused on the management of lighting in the house and its surroundings. The fourth chapter is devoted to visualization via the Power Panel PP481.
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