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Graphics Demo with Inverse Kinematics
Kárníková, Pavlína ; Jošth, Radovan (referee) ; Herout, Adam (advisor)
This work deals with the creation of a graphic demo with the use of inverse kinematics. It explains the motivations that led to the creation of the demo; it briefly mentions the history of the demo as well as the principles of animation. It describes in detail the fundamentals of inverse kinematics as well as the terminology needed for the understanding of inverse kinematics. It also includes some selected algorithms. The issue of inverse kinematics is further developed in the part of the work where the principles of skinning are being described. The principles of the collision detection are also mentioned here. The conclusion consists of a detailed explanation of some of the techniques used in graphic demo, such as the L-systems or procedural textures.
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Interactive Animation Viewer and Editor
Ducháč, Michal ; Seeman, Michal (referee) ; Pečiva, Jan (advisor)
Since the introduction of high end graphical workstations, computer animation has quickly replaced the traditional means of animation. Nowadays computer animation has many applications e.g. video games, motion picture industry, media, weather forecasting and many others. This master thesis discusses various techniques used to created animations using computers. Keyframing, is the most common approach in computer animation. Borrowing its name from the concept of traditional hand animation, the workflow process remained the same. Basic principles of animation using key-frames are explained and an Interactive Animation Editor solution based on keyframing is proposed and the implementation of this editor is described. Editor uses the Kochanek-Bartels interpolation of values between each key-frame.
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Animation Library Focused on Skeletal Animations
Dokoupil, Petr ; Přibyl, Jaroslav (referee) ; Štancl, Vít (advisor)
This thesis proposes an architecture of animation engine flexible enough to support large scale of animation algorithms with unified approach to each one of them. One of the major goals of the engine is to support creation of very complex animation seqences with high degree of animation execution control. The main animation technique used in the engine is skeletal animation and some variants of this technique are already implemented within, but it was never meant to be skeletal animation only engine and is designed that way.
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Animation of 3D Character in Computer Graphics
Pečenka, Michal ; Štancl, Vít (referee) ; Přibyl, Jaroslav (advisor)
The main goal of this project was to familiarize readers with the techniques used in real-time animation of 3D characters. This work is focused on two types of animation: keyframe animation and skeletal animation. There are described algorithms for software and hardware accelerated model deformations, keyframe interpolations, animation blending, inverse kinematics and ragdoll. The result of this project is a framework, which consists of an animation library, examples demonstrating library functions and tools for export animations from 3D Studio Max and MilkShape 3D.
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Robotic structure configuration using MOLECUBES
Vítek, Filip ; Kubela, Tomáš (referee) ; Simeonov, Simeon (advisor)
This master thesis is focused on Modular Self-Reconfigurable Robotic Systems. Their description is made at first and then possibilities of their use are listed. The next chapter concerns Molecubes modular system. The design of similar system where the construction of the individual modules is described follows. The transformations of coordinated systems in the individual modules are described and the calculation of forward kinematics and simulation of inverse kinematics is made at the end of the thesis.
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Design of an application for educational model of a manipulator with three degrees of freedom
Youssef, Daniel ; Křivánek, Václav (referee) ; Klimeš, David (advisor)
Tato práce popisuje další vývoj výukového sériového manipulátoru se třemi stupni volnosti. Práce se zabývá jednoduchou mechanickou úpravou manipulátoru, ale především pak softwarovou částí. Výsledkem je pak hra piškvorky, kdy manipulátor umožňuje hru proti lidskému protějšku. První část práce je věnována zlepšení inicializačního procesu manipulátoru a následně pak i návrhem vhodné polohové regulace. V další části je manipulátor rozšířen o jeden stupeň volnosti. Součástí je i návrh koncového efektoru vhodného pro psaní. Z takto upraveného manipulátoru je sestaven kinematický model vhodný pro real-time řízení. Dalším krokem v práci je návrh samotné aplikace hry piškvorky. Je navržen vhodný hrací algoritmus, včetně detekce a rozpoznání znaků v hracím poli pomocí kamery. Následně je vše implementováno do real-time aplikace, kde komunikaci s uživatelem zajišťuje navržené uživatelské rozhraní.
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Modelling, identification and control of robotic manipulator
Šuranský, Michal ; Krejčí, Petr (referee) ; Grepl, Robert (advisor)
Main aim of this master’s thesis is to identify, model and control robotic manipulator with three degrees of freedom. The thesis is a part of major project [17], the aim of which is to create an educational platform. In the thesis the simple PID control and the PID with feedforward compensation control is tested on the model of simple pendulum. In the next part models of DC motors, which are used for construction of the manipulator, are developed and the inverse dynamics model of manipulator is developed. This model is used for feedforward control of the manipulator. In the final part the application was developed, which allows the manipulator to be taught some movements, which can be later on, executed. For the simple control of the application the graphical user interface was programmed.
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Mathematical principles of Robotics
Pivovarník, Marek ; Kureš, Miroslav (referee) ; Hrdina, Jaroslav (advisor)
Táto diplomová práca sa zaoberá matematickými aparátmi popisujúcimi doprednú a inverznú kinematiku robotického ramena. Pre popis polohy koncového efektoru, teda doprednej kinematiky, je potrebné zaviesť špeciálnu Euklidovskú grupu zobrazení. Táto grupa môže byť reprezentovaná pomocou matíc alebo pomocou duálnych kvaterniónov. Problém inverznej kinematiky, kedy je potrebné z určenej polohy koncového efektoru dopočítať kĺbové parametre robotického ramena, je v tejto práci riešený pomocou exponenciálnych zobrazení a Grobnerovej bázy. Všetky spomenuté popisy doprednej a inverznej kinematiky sú aplikované na robotické rameno s troma rotačnými kĺbami. Odvodené postupy sú následne implementované a vizualizované v prostredí programu Mathematica.
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6 Axis Manipulator Control
Semrád, Michal ; Chromý, Adam (referee) ; Hynčica, Ondřej (advisor)
This master thesis discusses about designing and realization of a control system for a 6-axis robotic arm. The controlling system consist in a microcontroller LPC1756 with its firmware implemented under the Real-time operating system FreeRTOS and GUI application, running on a PC. The Microcontroller communicates with the PC through a serial line via SLIP protocol. Theoretically, it will deal with an explanation of the important terms, and describes the used robotic arm and its controlling unit. The practical part describes kinematics problems solving, firmware’s realization and GUI application.
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Virtual prototype of mechatronic system in ADAMS
Sojka, Tomáš ; Andrš, Ondřej (referee) ; Vetiška, Jan (advisor)
This thesis deals with the process of creation of virtual prototypes of mechatronics systems. Virtual prototypes are formed by combining different models, each of which simulates the specific characteristics of the system. Itself reduce the cost and time of development that there is no need physical prototypes. The first part consists of a short search on the modeling of virtual prototypes using a mechatronic approach. In the second part is created a virtual prototype of the mechatronic system - two-axis manipulator using programs MSC.ADAMS and Matlab / Simulink. Controlling of this model works in co-simulation mode.
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