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Geometric control of a snake-like robot
Jašek, Dominik ; Hrdina, Jaroslav (referee) ; Návrat, Aleš (advisor)
This thesis deals with the nonholonomic mechanics, description of nonholonomic constraints and the control algorithms. In particular it focuses on snake with 4 links. From kinematic equations we derive elementary vector fields, later four more are added thanks to Lie bracket. Using these vector fields we are able to devise an algorithm for controling the snake. Furthermore, the thesis also includes a serpenoid input applicated in the simulation enviroment V-REP.
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Air Hockey - construction design and control design of artificial player
Jašek, Dominik ; Lang, Stanislav (referee) ; Matoušek, Radomil (advisor)
This diploma thesis deals with the design and implementation of an automatic Air hockey player. In particular, a gaming table and a kinematic type of H-bot robot and electronics are designed. The movement of the robot is ensured by two stepper motors, which are controled by the Arduino Micro using timer interrupts. The thesis is improved by additional elements, such as goal detection using photoelectric sensors and automatic firing of the puck from the goal and others. The Air hockey robot was practically realized in cooperation with Ondřej Sláma.
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Air Hockey - construction design and control design of artificial player
Jašek, Dominik ; Lang, Stanislav (referee) ; Matoušek, Radomil (advisor)
This diploma thesis deals with the design and implementation of an automatic Air hockey player. In particular, a gaming table and a kinematic type of H-bot robot and electronics are designed. The movement of the robot is ensured by two stepper motors, which are controled by the Arduino Micro using timer interrupts. The thesis is improved by additional elements, such as goal detection using photoelectric sensors and automatic firing of the puck from the goal and others. The Air hockey robot was practically realized in cooperation with Ondřej Sláma.
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Geometric control of a snake-like robot
Jašek, Dominik ; Hrdina, Jaroslav (referee) ; Návrat, Aleš (advisor)
This thesis deals with the nonholonomic mechanics, description of nonholonomic constraints and the control algorithms. In particular it focuses on snake with 4 links. From kinematic equations we derive elementary vector fields, later four more are added thanks to Lie bracket. Using these vector fields we are able to devise an algorithm for controling the snake. Furthermore, the thesis also includes a serpenoid input applicated in the simulation enviroment V-REP.
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