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Humanoid robot
Vyoral, Jakub ; Šolc, František (referee) ; Kopečný, Lukáš (advisor)
This work deals with automatic generation of hybrid dynamics of bipedal robot in Matlab symbolic toolbox. Next goal is to provide linearisation of nonlinear model and achieve optimal state space controller. Work implements object model generator and simulator based on core of Matlab Simulink and visualisation of the results in user friendly GUI.
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Control of self-balancing mobile robot
Vyoral, Jakub ; Hrabec, Jakub (referee) ; Šolc, František (advisor)
This thesis contains derivation of mathematical model of self-balancing Segway like scooter, its proper verification and design of state space control. Model is based on Lagrange equations. Constants of state space controller are tested on linearized system. Practical realization uses design environment of Matlab Simulink with xPC Target extension for real-time control.
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Control of self-balancing mobile robot
Vyoral, Jakub ; Hrabec, Jakub (referee) ; Šolc, František (advisor)
This thesis contains derivation of mathematical model of self-balancing Segway like scooter, its proper verification and design of state space control. Model is based on Lagrange equations. Constants of state space controller are tested on linearized system. Practical realization uses design environment of Matlab Simulink with xPC Target extension for real-time control.
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Humanoid robot
Vyoral, Jakub ; Šolc, František (referee) ; Kopečný, Lukáš (advisor)
This work deals with automatic generation of hybrid dynamics of bipedal robot in Matlab symbolic toolbox. Next goal is to provide linearisation of nonlinear model and achieve optimal state space controller. Work implements object model generator and simulator based on core of Matlab Simulink and visualisation of the results in user friendly GUI.
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