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Robotic arm control by PLC
Pleva, Damián ; Foukal, Roman (referee) ; Štohl, Radek (advisor)
The goals of this diploma thesis were to get acquainted with the model of the robotic arm Beta 6 from Merkur Company. Next design connections between control board and PLC from Rockwell Automation. Then design and realize Add-On instruction for movement in 3D space with appropriate visualization.
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Robotic arm model design
Kvapil, Jakub ; Dobrovský, Ladislav (referee) ; Hůlka, Tomáš (advisor)
This diploma thesis deals with the design and construction of a robotic arm model. The robotic arm is driven by four stepper motors and two servomotors. Most of the supporting parts are made using 3D printing. The control of the arm is realized by a microcontroller of the Arduino type. The software and the construction are verified on a test task.
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Procedural Animation of Human Walk
Mohelník, Petr ; Maršík, Lukáš (referee) ; Polok, Lukáš (advisor)
Animation of human walk is employed in many interactive applications, mostly in computer games. There are many ways to create such animation which differ in compromise among naturalness, control over animation and computing time. This work implements procedural animation which is applicable for walking on uneven terrain. Skeletal animation is used for manipulation with model of human body. Furthermore, inverse kinematics is described and implemented. That allows for adaptation to uneven terrain. It also describes phases of human walk, so we can accurately aproximate them. Proposed solution enables specification of walk using number of parameters and is able to adapt to surrounding terrain. The result should be usable in creation of computer games and should allow for creation of specific animation of human walk without need to create such animation manually.
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Procedural Animation of Human Walk
Klement, Martin ; Žák, Pavel (referee) ; Polok, Lukáš (advisor)
This thesis describes the implementation of the program displaying procedural animation of human walk. This program uses the so-called skeletal animation, in which a virtual skeleton is being moved by a forward and inverse kinematics, and subsequently the vertexes of the 3D model of a human are transformed in accordance to the skeleton. Setting of the weight of the bones for individual vertexes is done via the envelope method, the model is loaded from the "ASE" format. The application is written in the C++ programming language and for the visualization the OpenGL library with the GLUT expansion is used.
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Robotic Arm with Model Servos
Bobčík, Petr ; Nosko, Svetozár (referee) ; Zemčík, Pavel (advisor)
The main goal of this thesis was to create my own robotic manipulator, which is controlled by its own user interface. I made a robotic arm based on computer Raspberry Pi 3B+ with 5 digital servos and a gripping mechanism in the form of a claw, to which I also attached a laser pointer. The user interface problematics was solved by creating a simple web page (combination of HTML, PHP and JS), which i placed into the Apache 2 web server (installed in Raspberry Pi). I successfully incorporated a way to control the servo one by one and how to control the whole arm with inverse kinematics into the user interface.
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Control system design for robotic manipulator
Křivánek, Štěpán ; Andrš, Ondřej (referee) ; Houška, Pavel (advisor)
Main goal of this thesis is to design and realize software for controlling planar robotic manipulator “Mini-swing”. At the beginning, thesis describes general issues of this problem. Research part deals with dividing manipulators in groups by their kinematic configuration. Next part merely outlines usage of National Instruments module “Robotics”. “Mini-swing” manipulator and its kinematic are described in the following part. Design and realization of software for controlling Mini-swing’s ending effector are parsed in next part and at the very end of thesis you can find summarization of accomplished results.
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Modelování chůze čtyřnohého robotu
Číž, Adam ; Křivánek, Václav (referee) ; Grepl, Robert (advisor)
This thesis deals with creation of a dynamic model of a walking quadruped robot in MATLAB/Simscape Multibody environment. It describes the process of creation from modelling of the geometry all the way to the gait algorithm assembly. Inverse kinematics was used to create the gait algorithm. The thesis also includes evaluation of the outputs of the model in form of angular velocity and torque time course in the joints of the robot while walking.
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