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Robotic palletization controlled by PLC
Šefránek, Adam ; Blaha, Petr (referee) ; Pivoňka, Petr (advisor)
The master's thesis deals with a robotic palletizing controlled by PLC. The first part provides examples of palletizing machines. The second part shows how ABB robot is controlled by B&R Automation PLC. The third part introduces selected approaches for automated pallet pattern generation. The fourth part designs library that allows pallet patterns to be generated using B&R Automation PLC. Fifth part covers creation of virtual palleziting cell, which is used to test library for automated pallet pattern generation.
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Control integrated system for workpiece recognition
Vostřel, Tomáš ; Blaha, Petr (referee) ; Pivoňka, Petr (advisor)
The diploma thesis deals with the usage of integrated machine vision by B&R, Smart Sensor, for metal rectangular-shaped workpiece recognition and position determinition. The description of the usage of machine vision in the industry is made, the solution concept is created and the program and the user visualisation implemented. The main outcome of this work is the VITemplate library which can be used in combination with the model-based Blob analysis implemented in Smart Sensor to control the robotic arm to successfully grab all the workpieces on the belt.
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Design of the endpoint trajectory of the robotic arm using the virtual point method
Bubeník, Ľubomír ; Blaha, Petr (referee) ; Pivoňka, Petr (advisor)
The diploma thesis deals with a new approach to create a robotic arm trajectory. The first part descibes existing methods of trajectory planning. The second part shows virtual point method, implementation of the trajectory planning into the web environment and trajectory generation. Third part descibes the virtual robot model and designed comunnication protocols. The fourth part shows grafical user interface and his posibilities. The last part presents implemention of web aplication into industrial visualization.
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Robotic insertion into a machine tool
Pála, Matěj ; Dokoupil, Jakub (referee) ; Pivoňka, Petr (advisor)
Master’s thesis deals with the process of an insertion and movement of different workpieces and profiles. In the first, theoretical, part, the definition of types of robots and description of their kinematics are presented. The second part deals with the analysis and research of the possibilities of communication between the B&R control unit and the ABB robot, including a description of the equipment in the workplace. In addition, the concept of the robot control program and mainly the management of communication between units are presented. At the end of the work is the description of testing and verification of the concept.
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Monte Carlo-Based Identification Strategies for State-Space Models
Papež, Milan ; Havlena,, Vladimír (referee) ; Straka, Ondřej (referee) ; Pivoňka, Petr (advisor)
Stavové modely jsou neobyčejně užitečné v mnoha inženýrských a vědeckých oblastech. Jejich atraktivita vychází především z toho faktu, že poskytují obecný nástroj pro popis široké škály dynamických systémů reálného světa. Nicméně, z důvodu jejich obecnosti, přidružené úlohy inference parametrů a stavů jsou ve většině praktických situacích nepoddajné. Tato dizertační práce uvažuje dvě zvláště důležité třídy nelineárních a ne-Gaussovských stavových modelů: podmíněně konjugované stavové modely a Markovsky přepínající nelineární modely. Hlavní rys těchto modelů spočívá v tom, že---navzdory jejich nepoddajnosti---obsahují poddajnou podstrukturu. Nepoddajná část požaduje abychom využily aproximační techniky. Monte Carlo výpočetní metody představují teoreticky a prakticky dobře etablovaný nástroj pro řešení tohoto problému. Výhoda těchto modelů spočívá v tom, že poddajná část může být využita pro zvýšení efektivity Monte Carlo metod tím, že se uchýlíme k Rao-Blackwellizaci. Konkrétně, tato doktorská práce navrhuje dva Rao-Blackwellizované částicové filtry pro identifikaci buďto statických anebo časově proměnných parametrů v podmíněně konjugovaných stavových modelech. Kromě toho, tato práce adoptuje nedávnou particle Markov chain Monte Carlo metodologii pro návrh Rao-Blackwellizovaných částicových Gibbsových jader pro vyhlazování stavů v Markovsky přepínajících nelineárních modelech. Tyto jádra jsou posléze použity pro inferenci parametrů metodou maximální věrohodnosti v uvažovaných modelech. Výsledné experimenty demonstrují, že navržené algoritmy překonávají příbuzné techniky ve smyslu přesnosti odhadu a výpočetního času.
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Model robotic table soccer
Korotynskiy, Alexander ; Dokoupil, Jakub (referee) ; Pivoňka, Petr (advisor)
The aim of this bachelor’s thesis is to evaluate the position of the ball by Raspberry Pi camera on the playing area of B&R’s robotic table football and design of a communication protocol between a Raspberry Pi and a PC. The first part of the thesis is devoted to the existing solutions of robotic table footballs and a familiarization to the used hardware. The second, practical part, is devoted to the design of the correct algorithm for evaluating the position of the ball on the playing area of robotic table football. It is also devoted to the design of communication protocol Raspberry Pi – PC for a robotic table football model.
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Model robotic table soccer
Bubeník, Ľubomír ; Dokoupil, Jakub (referee) ; Pivoňka, Petr (advisor)
This thesis deals with design of lighting scenes for the robotic table football. It consists mainly of analysis of what are the lighting options and selecting the most appropriate. It also deals with creating algorithm that can detect the position of the ball at the board of table football with great reliability and with approaching to real time. Thesis also includes data processing from the camera in the system PLC.
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Comparative analysis of discrete PID controllers
Pála, Matěj ; Dokoupil, Jakub (referee) ; Pivoňka, Petr (advisor)
Bachelor’s thesis deals with an analysis and complex comparsion of different structures of discrete variants of PID controllers related to testing at determined simulation and real models. In the first, theoretical, part are described different structures of discrete PSD controller. Also the Ziegler-Nichols method for determining parameters of these controllers is mentioned as the describe of B&R company used controller too. The second part of this thesis is focused on testing at determined models. In this part, there are stated results of comparison different structures of discrete variants of PID controller also as results taken with B&R company controller.
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Application of cable robot
Bulenínec, Martin ; Dokoupil, Jakub (referee) ; Pivoňka, Petr (advisor)
The thesis deals with the changes of a cable robot to a manipulator. The mechanical changes are mostly about adding an active part to a moving platform with the ability to transfer objects and the effort to exchange the silicon cables for metal ones. The main part of the thesis is the proposed design and implementation of the algorithm for detection of a possible collision of the cable robot with an object in its working space.
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