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Control of Pneumatic Muscles
Michna, Jakub ; Kříž, Vlastimil (referee) ; Kopečný, Lukáš (advisor)
This work deals with basic properties of McKibben pneumatic muscle and indetification of the parameters of the model of pneumatic muscle. To identify the parameters of the model of pneumatic muscle is used MATLAB function Fminsearch. The result of this work is the comparison of the model of pneumatic muscle with real pneumatic muscle, based on the similarity of waveforms of absolute pressure and on the similarity of instantaneous lenit of pneumatic muscle.
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Remote controlled wheel robot
Ruhás, Sándor ; Kříž, Vlastimil (referee) ; Florián, Tomáš (advisor)
Tato práce se zabývá návrhem a vytvořením kolového robotu na dálkové ovládání. První část práce obsahuje základní úvod do robotiky. Poté se čtenář seznámí se všemi kroky návrhu, které byly provedeny. Samotná konstrukce je rozdělena do dvou hlavních částí: návrh hardware a software. V kapitole návrhu hardware se čtenář dozví, jaké součástky byly vybrány a proč. Pro vysvětlení funkce součástek, budou uvedeny některé důležité parametry. Protože většina součástek může být nastavena různým způsobem, jsou hlavní nastavení detailně popsána. V dokumentu je také uveden jednoduchý ilustrovaný popis hlavních funkcí obslužného software. Na konci tohoto textu jsou diskutovány dosažené výsledky.
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Autonomous Control System for Mobile Platform
Kříž, Vlastimil ; Burian, František (referee) ; Žalud, Luděk (advisor)
This work undertake the design of autonomous control system for mobile platform – slot car – for the Freescale Race Challenge 2009. The aim is to draw and implement control system, which will be able to drive the car trough the previously unknow path in the shortest time. In work is described factors that affect runing the car and draw optimal driving style. Then sensors for the car, type of motor control and control unit are chosen. The algorithms for maping the profile and for lap recognition are developed. Next the realization of the systém are descripted.
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Inertial Navigation Unit
Kulka, Branislav ; Kříž, Vlastimil (referee) ; Šolc, František (advisor)
This thesis is concerned with attitude estimation of small flying robots using low cost, small-sized inertial and magnetic sensors. A quaternion-based extended Kalman filter is used, which adaptively compensates external acceleration. External acceleration is the main source of estimation error. If external acceleration is detected, the accelerometer measurement covariance matrix of the Kalman filter is adjusted. The proposed algorithms are verified through experiments. Selected algorithm is implemented on STM32F4DISCOVERY development board.
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Universal Control System for Quadrocopter
Gábrlík, Petr ; Kříž, Vlastimil (referee) ; Žalud, Luděk (advisor)
The Thesis objective is the design and implementation of the universal control system for a flying robot, quadrotor concept. The first part deals with ways of solving program for microcontrollers. The special attention is given to the FreeRTOS real-time operating system, which is designed for microcontrollers. The second part of the Thesis is focused on the description of the chosen microcontroller LM3S8962 and the hardware solution. One chapter is devoted to the integration of the robot to the Cassandra-WPF robotic control system. The third part deals with the identification of the new robot construction and the mathematical model creation. Using the model controllers for stabilization pitch and roll are designed and their functionality is verified on a physical model. The last part of the Thesis is focused on the FreeRTOS implementation and the control application creation.
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