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Modelling and control of wheeled mobile robots
Jonszta, David ; Šembera, Jaroslav (referee) ; Šolc, František (advisor)
The thesis deals with modelling and control of wheeled mobile robots. The thesis introduces the mathematical models of diferentially driven mobile robot, robot with Ackerman steering and a skid steered robot. The thesis describes open-loop and feedback control. Feedback control is divided into point-to-point control, path following and trajectory tracking.
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Robot Motion Simulator
Langer, Lukáš ; Materna, Zdeněk (referee) ; Španěl, Michal (advisor)
Robot simulation is currently an essential part of robotic development and selection of the simulator plays an important role. The aim was to highlight why it is important simulation and show its advantages and disadvantages. Another objective was to map overview of current simulation tools used in robotics. The aim was to propose a number of experiments that compare the environmental Gazebo and Microsoft Robotics Developer Studio with a focus on comparing the physical properties of the simulator. Finally, it was included in the evaluation of the experiments and practical experience with the two instruments.
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Educational Tutorial for Using of Arduino in Robotics
Beran, Jan ; Veigend, Petr (referee) ; Rozman, Jaroslav (advisor)
The aim of this thesis is to create an educational tutorial for using Arduino in robotics with the Trilobot robot. The tutorial aims to be focused on the target group of elementary school students and above with an interest in robotics and MCUs, but without any advanced knowledge of their operation. The theoretical part will summarize the current tutorials available for the Arduino and similar, together with the design of the reconstruction of the Trilobot robot and the design of the tutorial. In the practical part, both the creation of the robot itself and the preparation of slides in both Czech and English languages and source codes for the tutorial and testing will be implemented.
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Simulator of Robotic Arm Workcell
Hraboš, Martin ; Rozman, Jaroslav (referee) ; Luža, Radim (advisor)
This thesis describes design and implementation of an application for simulating robotic arm. The real model of this robot is located in the Faculty of Information Technology in Brno. It is possible to control the moves of the robotic arm and also switch the view at the scene from six cameras.
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Industrial robot application in area machinning technology
Staněk, Michal ; Matějka, Petr (referee) ; Knoflíček, Radek (advisor)
This study analyzes the application of industrial robots and manipulators in the area of cutting. It portrays the evolution of this dynamic sector and its next possible advancement. It explains the basic categorization and division of industrial robots and manipulators (IRM). The author offers an overview of various applications of IRM, with typical examples of the correct use of different types in technological processes (turning, milling, grinding etc.) in order to effectively increase the production. The study also describes two robotized technological work sites that the author personally visited and documented in detail. This study is supposed to show the indisputable advantages of employing the automating elements into the mechanical engineering and to explain the basic concept of this industry.
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Doors Opening for PR2
Senčuch, Daniel ; Materna, Zdeněk (referee) ; Kapinus, Michal (advisor)
This thesis aims to explore possibilities of door opening by the PR2 robotic platform based on information about the location and properties of the doors. This information must be obtained from another program that follows the protocol designed in this thesis. This thesis' effort should then produce a working program for the Robotic Operating System which - when run on the PR2 - is able to at least open doors in the direction from the robot and get the robot through them. The result has been successfully tested on the doors to the faculty robotic laboratory.
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Complex design of watering mobile robot
Podolinský, Ondřej ; Marcián, Petr (referee) ; Krejsa, Jiří (advisor)
This master’s thesis deals with a design of an irrigation mobile robot. It contains a review of modern irrigations systems and their characteristics. The thesis defines optimal fields of activity of robotics irrigation systems and presents a theoretical solution for one of them. The system draft of the irrigation mobile robot is designed on the foundation of the theoretical solution and it utilizes an available platform. The thesis contains details about the integration of partial sections of the project as well as testing.
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Control of a Robotic Arm Gripper
Luža, Radim ; Rozman, Jaroslav (referee) ; Zbořil, František (advisor)
This document describes design of regulator of gripping force for robotic gripper Schunk PG70. In the first part of this document there is described electircal connection, interconnection with control systém and testing of robotic gripper. The second part of document desribes design of software regulator of gripping force and material recognition with robotic gripper. Document also describes experiments with implementet regulator and sumarizes real measured values of atributes of the regulator.
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