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Planning of robotic manipulator trajectory
Zbožínek, Ondra ; Burian, František (referee) ; Chromý, Adam (advisor)
Semestr work deals with commissioning of a robotics manipulator EPSON C4 and controller RC700-A. The work also deals with commissioning of a communications protocol TCP/IP for communication between a controller and driver which is programmed in C# .NET. Creation of SW tool for fast and simple planning trajectory using Razor Hydra controllers.
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System for Automatic Calibration of a Robotic Tool
Šála, David ; Chromý, Adam (referee) ; Žalud, Luděk (advisor)
This Master's thesis describes the design and implementation of an experimental sample for automatic calibration of a robotic tool using machine vision methods under the auspices of the company SANEZOO EUROPE s.r.o. It deals with the analysis of all used methods of performing TCP calibration, on the basis of which it is implemented. The application is based on the Point-counterpoint method, where the robot is guided against the calibration point from three different directions, all perpendicular to each other. The calibration point is set using the ArUco marker. In order to detect the endpoint are used images from two cameras that are at the right angles to each other. Using conventional computer vision methods and an HSV filter, the endpoint of the instrument is found in the images and is guided to the calibration point. From the obtained coordinates, the searched endpoint of the robotic tool in the robot coordinates is found using the optimization method Particle Swarm Optimization. This application, therefore, performs TCP calibration in a fast time, thus reducing production downtime almost without human intervention.
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Using mobile phone in feedback rehabilitation
Mynařík, Ondřej ; Žalud, Luděk (referee) ; Chromý, Adam (advisor)
The aim of this thesis is to evaluate sensors used in Android mobile phones for measuring inclination and their comparation with precise reference sensor Xsens. Another goal is to create Android application for measuring inclination of balance desk. This application communicates with a computer by Bluetooth. Results indicates that sensors in mobile phones are sufficient enough to replace the precise sensor Xsens for measuring inclination of balance desk. Based on the results mobile application was created. Using a mobile phone with this application can replace Xsens, which results in rapid decrease of the price and the possible use in rehabilitation centers or by patients.
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Automated object tracking using robotic manipulator
Zelený, Miroslav ; Ligocki, Adam (referee) ; Chromý, Adam (advisor)
This diploma thesis deals with the tracking of objects using a robotic manipulator Epson C3 and a color camera. The work describes the basic qualities of the device to be used. The OpenCV library and its wrapper EmguCV are used as software tools for computer vision. It discusses the basic issues and principles of tracking objects in the image and introduces some methods of tracking. These methods have been tested and therefore their strengths and weaknesses, which appeared during testing, are listed here. Furthermore, there is a procedure for calculating the new coordinates of the camera and the manipulator effector using homogeneous transformations. The work contains the results of testing the algorithms and their evaluation. The output of the work is a test application for the Epson C3 robot.
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Online control of SCARA robotic manipulator
Pařík, David ; Jelínek, Aleš (referee) ; Chromý, Adam (advisor)
Bachelor’s thesis deals with Epson SCARA robot. Theoretical part of this project descri- bes parts and functions of manipulator H554BN and its contorller SRC 310. There is also included chapter about the SPEL III robot programming language. Practical part is about putting the robot into operation. It’s focused on the creation of magnetic grip and C# class for controlling robot via PC. The final aim is to demonstrate manipulators abilities in some interesting task.
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Processing of localization data and its accuracy
Návara, Marek ; Chromý, Adam (referee) ; Jílek, Tomáš (advisor)
This work is focused on correction of localization data, relative to them location of the sensor on robot. Also solves the conversion between coordinate systems WGS-84, ETRS-89 and local coordinate system. For localization data are designed error characteristics and thier transformation.These points have been implemented in C# as individual classes for position sensors and sensors orientation. Classes were firstly developer for single-axis sensors and they are base for multi-axis sensors. The implementation has been verified in the experiment with the robot envMap. Experiment results show that the correction is implemented properly and can be further used. Error characteristics listed in the work characterize the measurement uncertainty of location data and can be used in further processing.
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Modelling of planar RR manipulator
Bečár, Tomáš ; Chromý, Adam (referee) ; Burian, František (advisor)
This bachelor thesis deals with the model of the manipulator with two arms and servos RX-28 implemented in recent years. Part of the work is to search the kinematics of manipulators, calculate the direct and inverse kinematics task for a given manipulator, determine the accuracy of measuring the position of RX-28 servos and create a PC application to verify the function of the manipulator. The aim of the work is to achieve the accuracy of the pose for the entire handling space.
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Comparing 3D multispectral images of the human body
Šopák, Petr ; Burian, František (referee) ; Chromý, Adam (advisor)
This thesis is about creating new application of Roscan Analyzer 2.0 based on the original Roscan Analyzer using one of the current game engines. This application is used to model 3D models of scanned parts of human body using RoScan System and using the implemented tools such as view modes or measurement on model according to user-specified points. A new module for comparing two 3D models has been added to this application, in which models can be manually or automatically aligned and then compared. Physiological differences can be filtered on the models before comparison. The Unity game engine was chosen for implementation of the new RoScan Analyzer 2.0 application.
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Terrain passability analysis using machine understanding of maps
Pařík, David ; Jelínek, Aleš (referee) ; Chromý, Adam (advisor)
The diploma thesis deals with creation of computer aplication that can be used for conversion of raster maps for orienteering into model. Aplication will use this model to calculate optimal track between two selected locations. The thesis describes the development of a module for speed analysis in different types of terrain and another module for detection of roads and impassable objects. Thesis builds on work of Ing. Pavol Kršák and describes new features that were implemented to simplify user's control.
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