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Robotized Adaptive System for Precise Grinding of Mechanical Components
Jech, Filip ; Štajnochr, Lubomír (referee) ; Zezulka, František (advisor)
The aim of diploma theses is the design of an adaptive robotic workplace. The theoretical part focus on the division of robotic systems and the technical description of individual devices that were used in the implementation of the solution. The practical part contains an analysis of solutions and optimization of the entire production process in terms of minimizing the trajectory, smoothness of movements, time interval, which were analyzed in RoboSim software and in Roboshop software source code was created. Part of the theses is the design for an adaptive production process. The result of the work is an algorithm for controlling robot movements between individual processes. The theses contain a variant solution and possible innovative solutions for possible expansion of the workplace.
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Adaptive Controllers with Elements of Artificial Intelligence
Šulová, Markéta ; Šeda, Miloš (referee) ; Bobál, Vladimír (referee) ; Pivoňka, Petr (advisor)
The aim of the thesis is to improve the control quality of the adaptive systems (Self Tuning Controllers). The thesis mainly deals with problematical identification part of the adaptive system. This part demonstrates a weak point for existing adaptive systems. Paradoxically, the quality of the adaptive system depends mainly on the identification part because on the basis of the process model obtained by identification are worked out parameters of a control part, afterwards the control action plan is established. Knowledge of the modern control methods is used and a new identification algorithm for closed loop identification is proposed. This simple, fast and efficient algorithm overcomes all disadvantages of current classical identification methods based on least mean-square algorithms. The possibility of the choice of a short sample time, one tuning parameter ability to adjust the control process, the ability to identify processes in real use belong to its main goals. This algorithm was built in the adaptive system and then it was tested on a set of simulation and real models with surprisingly excellent results. The successful implementation of the algorithm into the programmable logic controller was also realized. One part of the thesis introduces a new universal graphics environment for testing and verifying control algorithms.
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Robotized Adaptive System for Precise Grinding of Mechanical Components
Jech, Filip ; Štajnochr, Lubomír (referee) ; Zezulka, František (advisor)
The aim of diploma theses is the design of an adaptive robotic workplace. The theoretical part focus on the division of robotic systems and the technical description of individual devices that were used in the implementation of the solution. The practical part contains an analysis of solutions and optimization of the entire production process in terms of minimizing the trajectory, smoothness of movements, time interval, which were analyzed in RoboSim software and in Roboshop software source code was created. Part of the theses is the design for an adaptive production process. The result of the work is an algorithm for controlling robot movements between individual processes. The theses contain a variant solution and possible innovative solutions for possible expansion of the workplace.
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Adaptive Controllers with Elements of Artificial Intelligence
Šulová, Markéta ; Šeda, Miloš (referee) ; Bobál, Vladimír (referee) ; Pivoňka, Petr (advisor)
The aim of the thesis is to improve the control quality of the adaptive systems (Self Tuning Controllers). The thesis mainly deals with problematical identification part of the adaptive system. This part demonstrates a weak point for existing adaptive systems. Paradoxically, the quality of the adaptive system depends mainly on the identification part because on the basis of the process model obtained by identification are worked out parameters of a control part, afterwards the control action plan is established. Knowledge of the modern control methods is used and a new identification algorithm for closed loop identification is proposed. This simple, fast and efficient algorithm overcomes all disadvantages of current classical identification methods based on least mean-square algorithms. The possibility of the choice of a short sample time, one tuning parameter ability to adjust the control process, the ability to identify processes in real use belong to its main goals. This algorithm was built in the adaptive system and then it was tested on a set of simulation and real models with surprisingly excellent results. The successful implementation of the algorithm into the programmable logic controller was also realized. One part of the thesis introduces a new universal graphics environment for testing and verifying control algorithms.
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