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Uncommon platforms in mobile robotics
Miškolci, Michal ; Burian, František (referee) ; Kopečný, Lukáš (advisor)
This thesis deals with the design of a four-wheeled omnidirectional robot chassis capable of trajectory tracking. For this purpose, a kinematic model is built in the thesis, then applied and compared with a real robot. This model implementing linear trajectory tracking is complemented by the computation of circular trajectory, and both types of motion are applied to the robot and evaluated. For large deviations from the desired circular trajectory, the last part of the paper is devoted to improve the tracking by linearizing the motor and using an angular velocity sensor to compensate for the rotational deviation.
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Electronic temperature measurement for a grill
Svoboda, David ; Burian, František (referee) ; Fiedler, Petr (advisor)
The work deals with methods of temperature measurement, electrical and non-electrical. Discussing the advantages and disadvantages of electrical methods of temperature measurement for applicability in the grill. It also discusses the selection of a suitable sensor to measure the temperature inside the grill. Subsequent design and implementation of the measuring system where the emphasis is on accuracy.
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Simulation of Autonomous Mobile Robots
Janoušek, Radim ; Burian, František (referee) ; Lázna, Tomáš (advisor)
The goal of this work is to implement robotic algorithms for autonomous tasks. The thesis starts with an introduction to the ROS 2 framework, where the basic features of this framework are introduced. This is followed by a comparison of the most popular robotic simulators, including a more detailed description of the Gazebo simulator and the lesser known Webots simulator. The next chapter focuses on the reasons for choosing the Webots simulator for creating the simulated world and describes the process of creating the interior based on the template. The penultimate chapter discusses the creation of robotic platforms in the Webots simulator and the sensors used, including the simulated lidar. In this simulation, the lidar is created with a mock-up of the real device. In the last chapter, the drivers for controlling the robotic platforms are implemented and a package for ROS 2 is created.
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Robotized workplace for welding
Krajčovič, Matej ; Burian, František (referee) ; Macho, Tomáš (advisor)
This bachelor thesis is focused on the automation of a workstation that operates a resistance spot welder. In the thesis we describe the whole process of implementing the workstation automation from considerations through simulations and component selection to the actual assembly of the line and subsequent first tests. In the individual chapters we describe in more detail the selected components that we used on the workstation. We will also discuss the improvements to the line that we added after the first tests and justify why they were necessary.
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The multiaxis manipulator
Majnuš, Martin ; Benešl, Tomáš (referee) ; Burian, František (advisor)
The thesis deals with the calculation of kinematics of the multi-axis manipulator type RLRL - SCARA robot, calculation of static forces acting on stepper motors and calculation of theoretical adhesion force required for the end effector. The suction cup diameter is also determined from the magnitude of the holding force. It also deals with the modification of the driver used for the Raspberry pico 2040 microcontroller. It also includes the design of the circuit board for switching the inductive load along with the design and subsequent physical implementation of the manipulator including the pneumatic and electronic parts. The last part of the bachelor thesis briefly describes the program for controlling the manipulator through the terminal.
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Comparison of integrated circuits for management of single cell Li-ion battery
Novák, Štěpán ; Burian, František (referee) ; Kunz, Jan (advisor)
Lithium-ion batteries are now widely used as power sources for mobile devices, electric vehicles, consumer electronics and other applications. For proper operation and extended service life of Li-ion batteries, it is important that the parameters specified by the manufacturer are met. This is ensured by means of appropriate circuits, the accuracy of which is the focus of this paper. This work provides an overview and comparison of different types of circuits for Li-ion battery management and charging and explains the basic principles of their operation.
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SCARA robot homing
Marčonek, Michal ; Burian, František (referee) ; Benešl, Tomáš (advisor)
This thesis deals with the design process of a new home procedure system for the SCARA manipulator from Seiko Epson. At the outset, it was first considered whether to use the original homing system. The principle of the original home procedure was identified, then attempts were made to make it work, but with negative results. For this reason, it was proceeded to create a new homing procedure system. In the theoretical part, the possible homing methods and their properties are explained. The new solution includes the design of new first and second axis sensors, which are solved by STGC absolute sensors. The other two axes are solved by end sensors. It was necessary to modify the cabling and add an input card to the control system. Finally, a Homing function block is implemented to ensure the detection of the manipulator pose after startup.
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Triggering device for CANbus
Piroch, Vojtěch ; Arm, Jakub (referee) ; Burian, František (advisor)
This bachelor thesis deals with the design of a triggering device for the CAN bus that allows connection to the trigger input of an oscilloscope and display of the signal waveforms of the CAN bus frames. The first part of the thesis deals with the theoretical description of the CAN bus itself, its principle of operation, description of frames, etc. The second part of the thesis deals with the selection of the core components needed for the circuit, the design of the final schematic, the definition and calculation of the individual components in the circuit and the method of control. The third part is practical, it is dealing with testing the prototype device, designing the circuit board and packaging for the device. The following section describes the software part of the device, specifically how to control the device, a description of the program and libraries used in programming the microcontroller. The last section describes the final testing and measurement of parameters such as jitter and trigger pulse delay.
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An simulation of the robot in webots and ROS
Musílek, Miloš ; Lázna, Tomáš (referee) ; Burian, František (advisor)
This work deals with the creation of a simulated manipulator with six degrees of freedom. The thesis describes simulation tools webots and Gazebo and the ROS system. The practical part deals with the creation of a simulation with a robot model and a simple environment. Subsequently, the simulated robot is coupled with the ROS system to create a controller that mimics real manipulators. The result is shown by moving an object using a set of instructions.
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Testbed for Simulation of MCU Application using RTL Environment
Ohnút, Petr ; Burian, František (referee) ; Arm, Jakub (advisor)
The thesis is focused on creating a test framework for easy simulation and configuration of mcu applications. The framework also provides basic processing of simulation output data, such as measuring UART or SPI communication speed, checking the expected instruction with the currently executed one, counting the executed individual instructions during the simulation, etc. Test scenarios are designed to simulate the implemented functionalities of the framework. Finally, the results of each test scenario are discussed.
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