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Indoor Robot - Control Neural Network
Křepelka, Pavel ; Kopečný, Lukáš (referee) ; Žalud, Luděk (advisor)
In this document, I describe possibilities of mobile robot navigation. This problems are solving many different ways, but there isn’t satisfactorily result to this day. You find there describe of deterministic algorithms, this algorithms can be used for simply actions like obstacle avoiding or travel in corridor. For global navigation this algorithms fails. In next part of document is theory of artificial neural nets (perceptron, multi layer neural nets, self organization map) and using them in mobile robots. Own navigation algorithms was tested on constructed mobile robot or simulated in SW described in chapter 6. Design own control algorithms is based on neural net (Kohonen net). Designed algorithms can be used for one-point navigation or complex global navigation. In document, there is comparing of various ways to navigation, their advantages and disadvantages. Goal of this document is find effective algorithm for navigation and artificial intelligence appears to be the right solution.
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Navigation of mobile robots
Rozman, Jaroslav ; Matoušek,, Václav (referee) ; Šolc, František (referee) ; Zbořil, František (advisor)
Mobile robotics has been very discussed and wide spread topic recently. This due to the development in the computer technology that allows us to create better and more sophisticated robots. The goal of this effort is to create robots that will be able to autonomously move in the chosen environment. To achieve this goal, it is necessary for the robot to create the map of its environment, where the motion planning will occur. Nowadays, the probabilistic algorithms based on the SLAM algorithm are considered standard in the mapping in these times. This Phd. thesis deals with the proposal of the motion planning of the robot with stereocamera placed on the pan-and-tilt unit. The motion planning is designed with regard to the use of algorithms, which will look for the significant features in the pair of the images. With the use of the triangulation the map, or a model will be created. The benefits of this work can be divided into three parts. In the first one the way of marking the free area, where the robot will plan its motion, is described. The second part describes the motion planning of the robot in this free area. It takes into account the properties of the SLAM algorithm and it tries to plan the exploration in order to create the most precise map. The motion of the pan-and-tilt unit is described in the third part. It takes advantage of the fact that the robot can observe places that are in the different directions than the robot moves. This allows us to observe much bigger space without losing the information about the precision of the movements.
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Design of a Mobile Robotic Platform
Kolář, Vít ; Drahanský, Martin (referee) ; Orság, Filip (advisor)
This thesis focuses on a design of a mobile robotic platform for an autonomous grass-reaping machine controlled by wireless connected computer. There is some information about the creation and objects of this project in the beginning and than the reader is made familiar with two autonoumous grass-reaping machines that are already on the market. The main chapter describes all the robots subsystems such as senzory, motoric and control subsystem. The issue of power supply and navigation is also mentioned. All these parts are beeing described both theoretically and from the point of autonomous grass-reaping machine as well.
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Visualisation of Path-Finding for Robot
Kvasnica, Miroslav ; Orság, Filip (referee) ; Rozman, Jaroslav (advisor)
This thesis deals with sampling-based algorithms for robot path planning. Theoretical principles of probabilistic path finding and its implementation details are discussed here. The second part focuses on individual algorithms - PRM, EST, RRT and SRT and its modifications. Java applets for visualisation of algorithms and web pages related with sampling-based algorithms are included on the CD.
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Present stay in automation and robotization of nonproduction processes
Hrdinka, Pavel ; Kazarian, Anna (referee) ; Knoflíček, Radek (advisor)
The bachelor thesis deals with the evaluation of the current state in the area of service robotics. The work is done in the form of a research survey using the company prospectuses, professional literature and internet sources. As part of the collection of information for the bachelor's thesis, an international engineering fair in Brno was visited and its contribution is described in a dedicated chapter. The human relationship to the robot is investigated using the questionnaire and literary works. The service robotics is useful for the human kind in daily life and brings a wide range of usage. There were described specific application capabilities and the use in different application areas. The final section describes the direction of the current research and development of robotics.
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Visualisation of Path-Finding for Robot
Roubalík, Zbyněk ; Drahanský, Martin (referee) ; Rozman, Jaroslav (advisor)
This thesis deals with methods of path-finding for robot, rather path-finding with Bug algorithms and Potential fields. The thesis descibes individual Bug Algorithms just as theoretical principles of Potential fields and planning paths in this fields. To better demonstration of these algorithms were created java applets. Design, implementation and control over these applets is also described in this thesis.
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ABB RobotStudio - sample control program for stationary robot
Machala, Jan ; Lacko, Branislav (referee) ; Lang, Stanislav (advisor)
The goal of this bachelor thesis is to create sample control program executing sequence of robot movements and then its implementation on real robot IRB 120. For communication between robot and PLC was used program created in integrated development environment Microsoft Visual Studio. In the introduction are briefly described history of robotics and categories of robots. In the following chapters are described company ABB Group, its products and company B&R Automation and its products focused on control systems. Next chapters describe the solution of the given laboratory task and briefly explain settings of the individual programs. The thesis attachment contains video of the working project tested on real robot.
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Industrial Robot Controlling
Studená, Zuzana ; Zbořil, František (referee) ; Kočí, Radek (advisor)
The aim of this work is to create software for the collection and visualization of data measured during automated testing of mechanical parts for cars. Mechanical patrs are tested by collaborative robot LBR iiwa, witch sends the measured data to desktop application. The work describes the design and implementation of application for controlling the robot, collection and visualization of measured data. Last part of the work deals with testing of the final product on a real device and discusses the possibility of deployment in practice.
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Digital commissioning of a robotic production system for machine tool tending
Roun, Jiří ; Bražina, Jakub (referee) ; Vetiška, Jan (advisor)
This master‘s thesis is about the digital commissioning of a robotic production system for a machine tool tending. The initial research describes the current state of the art in the field of industrial robotics. Their types and possibilities are followed by the types and SW capabilities for digital commissioning. The system analysis of the robotic work cell. The practical part of this thesis describes the creation of the digital model and SW design. At the end of the thesis is performed virtual testing of the robotic system.
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From industrial robots to androids
Baďura, Martin ; Langerová, Petra (referee) ; Šťastná, Dagmar (advisor)
Tato bakalářská práce je zaměřena na téma robotiky. V teoretické části se stručně zabývá pojmem robot a popisuje historii robotiky, od nejprimitivnějších vynálezů až po dnešní androidy. Věnuje se zejména těm nejvýznamnějším milníkům v průběhu historie. Dále se zabývá problematikou společenských robotů. Zaměřuje se na to, co dělá robota společenským a řeší nejrůznější designové a etické problémy spojené s konstrukcí takového druhu robota. Poslední část se zabývá legálními a etickými problémy v robotice podle Evropského parlamentu. V praktické části jsou prezentovány výsledky dotazníkového průzkumu.
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