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Kinematics of a robotic arm by means of geometric algebras
Křápek, Michal ; Hrdina, Jaroslav (referee) ; Vašík, Petr (advisor)
In this thesis we are dealing with forward and inverse kinematics of a robotic arm using a model of two dimensional space in conformal geometric algebra. Goal of this thesis is a proposal of algorithms for dealing with inverse kinematics problem and their implementaion. Five algorithms were constructed and implemented in python language. One for computing a position of a robotic arm and four for calculating the trajectory of the gripper. In this thesis, the problem was solved using a theorem about orientation of the line segment normal and with the triangle signature. Because of that, the cumputing load was reduced in implementation of the most complex algorithm which is combining the motion of the gripper along a polygonal chain and motion of the gripper along circular trajectory. The benefit of this thesis is a new approach to solving inverse kinematics problem.
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Robotic Arm System for Scale Models Domain
Bruštík, Antonín ; Strnadel, Josef (referee) ; Šimek, Václav (advisor)
This thesis marginally deals with issue of industrial robots, subsequently with the design and construction of own robotic arm. It includes production process in domestic conditions with usage of commonly available components and hobby FDM 3D printer. It is closely dedicated to selection and connection of control electronics, design and consequential implementation of firmware including graphical user interface intended to demonstrate its functionality. In conclusion, it evaluates achieved results and proposes possible improvements.
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Design and implementation of an automated robotic workplace for controlled plant cultivation
Kazda, Jan ; Adámek, Roman (referee) ; Věchet, Stanislav (advisor)
This bachelor thesis will deal with the design and implementation of a robotic workplace for controlled plant cultivation. This system will be operated by 4 robots. The communication between the robots will be provided through a Programmable Logic Automaton. Calibration processes will be developed for the robots to achieve the required working accuracy of the robot. In order to perform these calibrations, calibration marks will be created for the cassettes that house the petri dishes. The cassettes are described as carriers for the individual petri dishes. Finally, verification of the real functionality of the system will be addressed.
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Robotic Arm Exploiting RC Components and Servos
Bobčík, Petr ; Kapinus, Michal (referee) ; Zemčík, Pavel (advisor)
Cílem této práce bylo postavit vlastní robotické rameno, s využitím RC komponent, serv a dodat k němu i vlastní uživatelské rozhraní, které umožní jeho řízení. Součástí řešení bylo také opatřit robotické rameno potřebnou senzoriku, která by umožnila jistou míru autonomnosti. Pro mé řešení jsem se rozhodl upravil již existující design robotického ramene, s pěti stupni volnosti, založeném na krokových motorech. Přidal jsem senzory, jako je akcelerometr, enkodér, měřič proudu, laserové měření vzdálenosti a kameru. Na základě těchto senzorů je robotické rameno schopné detekovat náraz, pozici odpojených motorů, uchopení předmětu uchopovacím mechanizmem nebo měřit vzdálenost předmětu v prostoru za účelem inverzní kinematiky. Vytvořil jsem také jednoduché uživatelské rozhraní, které umožňuje tři typy ovládání, jako je ovládání jednotlivých kloubů samostatně, autonomně s využitím kamery nebo ručním napozicováním.
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Optimisation of robotic arm guidance for milking purposes
OLŠAN, Pavel
The thesis deals with the optimization of the robotic arm guidance used in the deployment of teat handles in connection with robotic milking. The results were divided into several subparts: 1. Describing the main parameters and settings of the vision and object detection process 2. Process setup procedures 3. Choosing the ideal parameters 4. Creating an output program for the robotic arm The thesis was realized within the MIT TRIO project FV40316 - Development of a complex modular system of robotic milking with simultaneous evaluation of breeding parameters by application of artificial intelligence methods.
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Design of a chess manipulator
Novák, Tomáš ; Parák, Roman (referee) ; Cejpek, Zdeněk (advisor)
The bachelor’s thesis deals with a design and realization of a chess manipulator and its controlling through a graphical user-friendly interface. The theoretical part is divided into two sections, a brief insight into manipulation technique and a more in-depth characteristic of robotic manipulators. The practical part focuses on the chosen chess set and a concept of the robotic manipulator. The following parts then describe the structural units, motor and control units and electronic components. Additionally involves the practical part the design and implementation of the manipulator via the Arduino and the user interface. In the final part is created a functional model and designed possible future improvements and development.
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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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