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Collaborative robots
Čefelín, David ; Knoflíček, Radek (referee) ; Vetiška, Jan (advisor)
This bachelor thesis summarizes the knowledge from the field of collaborative robotics. The research part deals with cooperation with collaborating robots, programming and using the collaborative robots in practice. In addition, the most well-known collaborative robots and their most important parameters are presented. In the practical part, the simple example of off-line programming with individual is shown.
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Lab Automation with SCARA Robot
Machala, Jan ; Lang, Stanislav (referee) ; Matoušek, Radomil (advisor)
The aim of this thesis is to design and program a robotic cell for processing Covid-19 laboratory samples. To prevent the leakage of hazardous substances into the environment, the entire robotic cell is restricted to the space of a laminar box. The Epson LS3-B SCARA robot was chosen for handling the tubes. The robotic cell was designed using a digital twin in the simulation environment of Epson RC+ software. The digital twin facilitated the prototyping of the robot end effector and helped to detect any collisions that may have occurred in the confined space. After successful design using the digital twin, this robot cell was assembled and tested in a real-world environment.
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Wheelchair control using EEG signal classification
Malý, Lukáš ; Sadovský, Petr (referee) ; Žalud, Luděk (advisor)
Tato diplomová práce představuje koncept elektrického invalidního vozíku ovládaného lidskou myslí. Tento koncept je určen pro osoby, které elektrický invalidní vozík nemohou ovládat klasickými způsoby, jakým je například joystick. V práci jsou popsány čtyři hlavní komponenty konceptu: elektroencefalograf, brain-computer interface (rozhraní mozek-počítač), systém sdílené kontroly a samotný elektrický invalidní vozík. V textu je představena použitá metodologie a výsledky provedených experimentů. V závěru jsou nastíněna doporučení pro budoucí vývoj.
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Cloud-Based Server for Robot Management
Jezerský, Matouš ; Kapinus, Michal (referee) ; Materna, Zdeněk (advisor)
The goal of this project is to make robots running the ROS platform, and the servers running on them, more accessible to the users, without the need of reconfiguration after a change of network or the need of direct VPN connection, as well as with the emphasis on minimal software requirements for both users and robots. The result is an open-source application, which provides that. The solution is a reverse proxy server, put inbetween the clients and the servers running on robots - Dispatcher. For connection between clients and robots, two OpenVPN networks are used, and as a secure user interface, the existing system RMS is used and extended with Dispatcher interface. Among other things, Dispatcher collects information about all connected robots so a summary can be displayed. This set of software tools therefore allows an authorized user to connect to robots in various networks, without the need of other client software apart of OpenVPN client and web browser.
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Control of a wheelchair
Vožda, Ondřej ; Kopečný, Lukáš (referee) ; Šolc, František (advisor)
This thesis describes development of control algorithm for a wheelchair. Wheelchair should be capable of tracking and following a wall or a similar flat surface. Thesis is supposed to be an extension of the previous concept, whose purpose was to allow remote telepresence control of this wheelchair. SRF08 ultrasonic range finders are used to measure distance from the wall. Furthermore, image processing for mark detection is discussed. Purpose of these marks is to increase precision during final phase of the parking.
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Minidarpa robot - motor controller design
Libra, Jaroslav ; Florián, Tomáš (referee) ; Kopečný, Lukáš (advisor)
The main task of this master’s thesis is to design circuits for feedback control of the main drives Minidarpa robot. It contains the description of power-driven mobile robot control theory and the DC motor. The second part deals with the design options of the control module and its mechanical design. The last part of the proposal made cascade speed control with current loop by using optimal module and the symmetric optimum methods.
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Industrial robotic arm model
Sobota, David ; Kazda, Tomáš (referee) ; Vyroubal, Petr (advisor)
This work deals with problematics if industrial robotic arms, with theirs constructions, controling and with theirs role in Industry 4.0. Work describes the process of development and realization of the industrial robotic arm model by 3D printing. Besides construction fo model, work deals with firmware, software and inversion kinematics crucial to controling. Model of robotic arm will be used as learning tool.
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Calibration of Robotic Workspace
Uhlíř, Jan ; Veľas, Martin (referee) ; Kapinus, Michal (advisor)
This work is concerned by the issue of calibrating a robotic workplace, including the localization of a calibration object for the purpose of calibrating a 2D or 3D camera, a robotic arm and a scene of robotic workplace. At first, the problems related to the calibration of the aforementioned elements were studied. Further, an analysis of suitable methods for performing these calibrations was performed. The result of this work is application of ROS robotic system providing methods for three different types of calibration programs, whose functionality is experimentally verified at the end of this work.
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Swarm Intelligence in MRDS
Kučera, Lukáš ; Hynčica, Ondřej (referee) ; Honzík, Petr (advisor)
The background research in this Master’s thesis is focused on swarm intelligence. Further, there are two experiments described. They are based on released publications and they study behaviour of a group of robots during a puck gathering and during a target search. The actual thesis follows a repetition of these experiments in Microsoft Robotics Developer Studio (RDS), a free robotics simulation environment. The realization of both experiments in RDS is documented in detail and the achieved results are evaluated and compared with the results described in the publications. In conclusion, the thesis summarizes basic features, advantages and disadvantages of developing in RDS, based on a personal experience.
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Visualisation of Path-Planning
Vozák, Petr ; Orság, Filip (referee) ; Rozman, Jaroslav (advisor)
This thesis deals with sampling-based algorithms for nonholonomic (mainly car robot) and flexible robot path planning. Theoretical principles of probabilistic path finding and its implementation detail are discussed here. Java applets for visualization of algorithms and web pages are include on the CD.
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