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Skeletal Animation for GPUengine
Minařík, Antonín ; Milet, Tomáš (referee) ; Starka, Tomáš (advisor)
This paper deals with studying skeletal animation techniques, and the subsequent design and implementation of skeletal animation extension for the GPUEngine library. The theoretical part describes the techniques of animation, skeletal animation and skinning. The following is an analysis of existing skeletal animation systems. The proposed solution seeks to reduce the data redundancy in the memory while rendering more skeletal models. According to the design a basic skeletal animation system has been implemented. Furthermore, a demonstration application has been created showing the skeletal system's use. The resulting skeletal system can be used in simple 3D applications and can serve as a basis for further works.
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Applications of Quaternions in Robot Kinematics
Doctor, Diana ; Vašík, Petr (referee) ; Matoušek, Radomil (advisor)
This thesis deals with the usefulness of the application of quaternions in representing robot kinematics. It begins by showing the relationship of quaternions to the more commonly-known complex numbers and how it can represent rotations in three-dimensions. Then, the dual quaternions are introduced to represent both the three-dimensional rotation and translation. It will then be used to derive the forward and inverse kinematics, particularly, for the Universal Robot UR3 which is a 6-DOF robotic arm. Lastly, an actual application of dual quaternions in robot programming will be demonstrated
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Inverzní kinematika robota sestrojeného na bázi stavebnice Merkur
ČADA, Jaromír
This Bachelor thesis deals with problematics of inverse kinematics and its application to a robotic arm built from building kit - Merkur Beta 6°. It contains implementation of equations into a program written in Matlab workspace and creation of functions for computing inverse cinematics by FABRIK method. Further it shows, how to set up connection with an Arduino programable platform and control the robotic arm with sent data. The results of this thesis are verified at the end by sample program, which simulates a manipulator.
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3D scene reconstruction using Clifford algebras
Hrubý, Jan ; Návrat, Aleš (referee) ; Hrdina, Jaroslav (advisor)
Tato diplomová práce má za cíl seznámit čtenáře se stále ještě relativně novou a neznámou oblastí matematiky, s geometrickou algebrou. Nejdříve jsou uvedeny základní definice a poté jsou studovány vlastnosti obecné geometrické algebry. Další velká část textu se věnuje Konformní geometrické algebře, která je v současnosti jedna z nejvíce zkoumaných a aplikovaných geometrických algeber. Jsou popsány její algebraické a geometrické vlastnosti, konkrétně schopnost reprezentovat určité geometrické objekty jako vektory. Taktéž umožňuje počítat jejich průniky a konformní transformace. Další část textu je zaměřena na aplikace Konformní geometrické algebry, nejdříve k popisu kinematiky robotické ruky a poté v binokulárním viděni.
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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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MOLECUBES technology application in robotics
Vacek, Václav ; Kubela, Tomáš (referee) ; Simeonov, Simeon (advisor)
The aim of the thesis is to propose and make a robot, which is made of identical modules. These modules are able to connect or disconnect themselves and thanks to this feature new structures of robot can be achieved. This problem is solved by the design proposal of a module, which is capable to rotate in two axis and has connection connectors for other modules. Communication is carried out by Wi-fi connection to the computer and angles required for reconfiguration are calculated by inverse kinematics in Matlab program. On these modules the reconfiguration test was succesfully demonstrated.
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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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Model and Controlling of Robotic Arm
Bílek, Jiří ; Orság, Filip (referee) ; Rozman, Jaroslav (advisor)
This bachelor's thesis deals with the controlling of Lynx 6 robotic arm using OpenRAVE. I deal with derivation of inverse kinematics of 4DOF robotic arm Lynx 6. The work contains a full description of creation of robotic arms in OpenRAVE XML format. The thesis includes solution of implementation of connecting OpenRAVE program and robotic arm using FITkit. Finally, the work includes consideration of the necessary arrangements for the connection of other robotic arms to the OpenRAVE.
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