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Robotic Manipulator Controlling Using Microcontroller
Zemánek, Martin ; Škarvada, Jaroslav (referee) ; Růžička, Richard (advisor)
This master's thesis deals with control robotic manipulator ROB 1-3 using common joystick and microcontroller HC08 NITRON or HC08 LJ12. The goal of this work was creation of module for controlling axes position of servos included in robot by analog signal coming from connected joystick. There are formed possible suggestions about connecting individual parts together for both autonomous and version using development kit. Programming code suggestion is based on these connections during further development. The limitations of using it are described in analysis and final results are shown in statistics results.
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Electronic control of servomechanism for drive-simulator
Valouch, Martin ; Šebesta, Jiří (referee) ; Fedra, Zbyněk (advisor)
The aim of this bachelor´s thesis was construct electronic driving unit of positioning servomechanism in driving simulator. As controlling unit was chosen 8-bit microcontroller ATmega16 produced by ATMEL® and for scan actual angle of displacement the seat magnetic rotation encoder AS5040 produced by Austriamicrosystems®. For construction of bridge circuit were chosen MOS transistors. This transistors are excited by two Power MOSFET Drivers. Their job is convert output signal TTL logic from microcontroller to voltage in needed norm for transistors circuit closing. Data from PC in drive simulator can be transfer by serial interface RS485 or RS232.
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Control of DC Servo Drive
Gerlich, Jan ; Blaha, Petr (referee) ; Václavek, Pavel (advisor)
This work deals with the proposal of cascade control of the DC servo motor. This work solve proposal of position regulators, angular velocity regulators and current regulators. Futhermore this work deals with the implementation of an algorithms of discrete PI and PID regulators on microprocessor.
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Table tennis robot
Nguyen, Thuc Tuyen ; Věchet, Stanislav (referee) ; Marada, Tomáš (advisor)
This diploma thesis deals with designing and manipulating a robot for training table tennis. Robot's mechanical construction is based on aluminium profiles supported by various standardized assembly units, such as rotating bearings, plain bearings, threaded rods... The front-end part of the robot, which requires better deformation property and lighter weight, was made from ABS material using 3D rapid prototyping technology. The design of the robot allows its body to rotate around three axises. Thanks to the high dynamical ability, robot can be set to throw balls to various places on the playing table, with different types of ball spin. Balls will be shot out by two rubber wheels, which are attached to two electrical DC motors. By driving the speed of the two motors, we can control the speed of the ball, as well as speed of its spin. All robot's activities are driven by an embedded system designed using microcontroller ATMega128. A firmware for controlling robot's function was writen and flashed into the microcontroller. End-users might communicate with the robot via a system of buttons and a text LCD display. The built robot was tested and it has shown its ability to throw balls to 6 different places of the playing table, at different speeds, with different types of ball spin, and different spin speed, according to the parameters set by user.
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Position control of servo with discontinuouns rechangeable speed
Jindra, Pavel ; Věchet, Stanislav (referee) ; Němec, Zdeněk (advisor)
Diploma thesis work includes simulation of compensation of control for discrete. The aim of the work is a solution positioning control of servomotor drive piston, which is controlled by pass of the pressure oil with the help of several electromagnetically controlled switchboards with the orifice in the output channels. The verification activities of the regulated system is done using simulation in Matlab/Simulink and Matlab/Simulink, Matlab/Hydrosim. The requirement on the created model is to verify the behavior of the system to be modified to be used for the further development of the issue
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Position control of servo with discontinuouns rechangeable speed
Jindra, Pavel ; Věchet, Stanislav (referee) ; Němec, Zdeněk (advisor)
Diploma thesis work includes simulation of compensation of control for discrete. The aim of the work is a solution positioning control of servomotor drive piston, which is controlled by pass of the pressure oil with the help of several electromagnetically controlled switchboards with the orifice in the output channels. The verification activities of the regulated system is done using simulation in Matlab/Simulink and Matlab/Simulink, Matlab/Hydrosim. The requirement on the created model is to verify the behavior of the system to be modified to be used for the further development of the issue
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