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Implementaion of the controllers of a mobile walking robot
Krajíček, Lukáš ; Věchet, Stanislav (referee) ; Ondroušek, Vít (advisor)
This diploma thesis deals with design and implementation of the controllers of a mobile walking robot. The advantage of these controllers are their kinematics and geometrics independent representation, which allow to use them for different robot types and tasks. In this thesis the contact controller is designed, which minimizes residual forces and torques at the robot's center of gravity, and thereby stabilize robot's body. Next the thesis deals with a posture controller, which maximizes a heuristic posture measure to optimize posture of robot body. Because of this optimization, legs are moved away from their limits and therefore they have more working space for next move. Implementation of the chosen solution is made on the robot's MATLAB mathematical model. Controllers are composed into a control basis, that allows to solve general control tasks by simultaneous combination of contained controllers. The algorithm was created for that simultaneous activation and its operation was explained on flow charts.
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History of automation and clock machines in Bohemia
Krajíček, Lukáš ; Zbořil, Miroslav (referee) ; Lacko, Branislav (advisor)
Clock makers were the inventors of the first automatic machines. This thesis deals with description of the mechanical clock machine housed in the church tower in Nová Říše, and documents the history of automation in Bohemia. The text describes the history of this clock, as well as difficulties that arose during its construction, as well as its maintenance and regulation. Information is also provided which pertains to the exposition of this clock at the Technical Museum in Brno.
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Implementaion of the controllers of a mobile walking robot
Krajíček, Lukáš ; Věchet, Stanislav (referee) ; Ondroušek, Vít (advisor)
This diploma thesis deals with design and implementation of the controllers of a mobile walking robot. The advantage of these controllers are their kinematics and geometrics independent representation, which allow to use them for different robot types and tasks. In this thesis the contact controller is designed, which minimizes residual forces and torques at the robot's center of gravity, and thereby stabilize robot's body. Next the thesis deals with a posture controller, which maximizes a heuristic posture measure to optimize posture of robot body. Because of this optimization, legs are moved away from their limits and therefore they have more working space for next move. Implementation of the chosen solution is made on the robot's MATLAB mathematical model. Controllers are composed into a control basis, that allows to solve general control tasks by simultaneous combination of contained controllers. The algorithm was created for that simultaneous activation and its operation was explained on flow charts.
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History of automation and clock machines in Bohemia
Krajíček, Lukáš ; Zbořil, Miroslav (referee) ; Lacko, Branislav (advisor)
Clock makers were the inventors of the first automatic machines. This thesis deals with description of the mechanical clock machine housed in the church tower in Nová Říše, and documents the history of automation in Bohemia. The text describes the history of this clock, as well as difficulties that arose during its construction, as well as its maintenance and regulation. Information is also provided which pertains to the exposition of this clock at the Technical Museum in Brno.
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