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Modelling, identification and control of rotary pendulum
Klusáček, Ondřej ; Ondrůšek, Čestmír (referee) ; Grepl, Robert (advisor)
The diploma thesis deals with control of rotary inverted pendulum - Furuta pendulum. Solution for power electronics, sensors and coupling with PC is described, identification of parameters and nonlinear simulation model in Matlab/Simulink and SimMechanics toolbox is presented. Second type Lagrange equation is used for determination of equations of motion. Controll system based on state-space model of mechanism and LQR algorithm for design of state-space controller is used and switching between swing-up cotroller a stabilizing state-space control is achieved according to actual angular position of pendulum's angle. Input integrator eliminating steady state error was used with success.
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Testing platform with 3 dof
Spáčil, Tomáš ; Houfek, Lubomír (referee) ; Grepl, Robert (advisor)
This thesis deals with development and construction of parallel manipulator with three degrees of freedom whose assumption of usage is testing tanks for NH3. In this work we are going to investigate the design of the mechanism in Matlab Simulink. Design of the electronic is introduced and also the control program is developed. The result of the work will be a prototype of manipulator.
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Analyses of Mechanical Tasks in Multi-body System
Ondrejka, Adam ; Lošák, Petr (referee) ; Hadaš, Zdeněk (advisor)
The aim of the bachelor thesis is to create simulation models according to mechanical tasks with the usage of CAD system Invetor and simulation tool SimMechanics, which will be further utilized in tuition. The accuracy of simulation would be evaluated in comparison with classic solutions. Finally, the pros and cons of SimMechanics would be summarized.
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Utilization of multi-body simulation tools in subject Dynamics
Lokšeninec, Ľuboš ; Houfek, Lubomír (referee) ; Březina, Lukáš (advisor)
The bachelor’s thesis is conducted in purpose of modernization the dynamics theory teaching methods by the multi-body simulation systems. Thesis acquaints student with accessible simulation systems and provides a manual how to compose virtual models of physic frameworks. Student is introduced to the basic options of current multi-body system by means of pre-processed examples focused on rolling, oscillation and inertia moment. Thesis refers to present teaching methods with models composed in Matlab/Simuling system with SimMechanics sublibrary.
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Thermoelectric Generator
Štetina, Jakub ; Ančík, Zdeněk (referee) ; Vlach, Radek (advisor)
This thesis describes measuring of thermoelectric modules and building of the device, which would serve as an emergency electric energy source for specific purpose on the basis of ther-moelectric effects. We use thermoelectric generators (TEG).
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Modelování kinematiky dvounohého robotu
Grepl, Robert ; Zezula, P.
This paper presents the procedure of an analytical forward and inverse kinematic model deriving. Forward model is based on standard homogeneous transformation approach. Inverse model is built using a work in basic plane of leg movement with the help of homogeneous transformations in foot and hip joint points. Model built automatically in Matlab/SimMechanics was used as a reference. All the kinematic modelling is motivated by implementation in robot control unit based on microcontrollers Atmel ATMega.
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Use of comlex dynamic models in design and control of walking robots
Grepl, Robert ; Ondrůšek, Č. ; Kratochvíl, Ctirad
The paper describes the design of complex dynamic model of quadrupedwalking mobil robot. Method of building of thenumerical computational model and its simulating is shown. Complex model consist ofsubmodels of robotic mechanism, DC motor, gearbox model and thermal model ofelectrical motor. In the paper is also discussed application of computational model directly for control ofrobot and also as a data generator for global and local approximation method,mainly artificial neural networks. Control algorithm is also considered in model.
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Control of experimental valking robot using simulating model
Grepl, Robert ; Věchet, S. ; Bezdíček, M. ; Švehlák, M. ; Chmelíček, J.
This paper describes the scheme of remote operator control of mobile walking robot. Control structure is appropriate for low level control of robot (full operator supervision) and for initial phase of robot design. Kinematic and dynamic model are built in Matlab--Simulink--SimMechanics environment. Computation speed of model allowed real--time control of robot. Adopted approach is tested on small experimental physical model - quadruped walking robot with four legs and 12 d.o.f. overall.
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Dynamický model pro řízení stability kráčejícího robotu
Grepl, Robert
This paper deals with the building and utilization of numerical dynamic modelof stability. The design of model and its solution is accomplished inMatlab/Simulink/SimMechanics environment. The model is designed for particularquadruped walking robot. The structure of the model is described in the text. Two examples of model application are shown at the end of the paper. Model can be used directlyin SimMechanics for various analysis on PC or can be employed as a generator oftraining data for approximator.
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