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Robotic table football - optimization of image processing of the playing area
Sijková, Simona ; Parák, Roman (referee) ; Lang, Stanislav (advisor)
The aim of this bachelor’s thesis is to optimize image processing of the playing area of B&R’s Automation robotic table soccer using intelligent vision system from Cognex. The introduction is devoted to a research of machine vision systems and vision systems made by Cognex company. It expounds on fundamentals necessary for system running and compares their pros and cons for different applications. Procedures, changes and solutions of problems which lead to final optimization in In-Sight explorer program are shown in the second practical part. In the end of the bachelor thesis, the influence of illumination and the external environment on the ball detection is discussed.
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PLC Control of Mobile Robotics Platform
Konečný, Michael ; Lang, Stanislav (referee) ; Matoušek, Radomil (advisor)
The aim of this master's thesis was to create a design for a prototype of a mobile robotic platform and its physical fabrication. Another goal of this master's thesis was to develop a control algorithm and its implementation into a prototype. In addition, the thesis was extended by an autonomous motion mode, an algorithm for robot path planning, and the design of the Human Machine Interface (HMI). The introduction contains a description of some already created mobile robotic platforms, a presentation of the company B&R and the theory needed to understand omnidirectional mobility. The next chapters describe the design and construction of a prototype with a selection of electronic components and their wiring, implementation of an algorithm for robot path planning, implementation of a control algorithm and design, together with the implementation of the user environment. At the end of this master's thesis, the possibilities of extending the project to future years are described.
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Robotic table football - position detection of opponent
Otradovský, Radek ; Zuth, Daniel (referee) ; Lang, Stanislav (advisor)
The aim of this thesis is design of the sensing device to detect the positions of the four independent human axes robotic table soccer and create an output program applicable to game strategy. In the introduction is comparison of previously developed solutions. Next part is the comparison and selection of appropriate sensors applicable to the design table. For specific solutions then select a suitable module for integration into the control system and then test the functionality of the system. Implementation part of the proposal includes the design of construction for detection and next includes all necessary upgrades in the construction of the machine ware to commissioning.
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Tool for easier automation visualisation creation in mapp View technology
Kseňak, Ján ; Lang, Stanislav (referee) ; Poliščuk, Radek (advisor)
The aim of the bachelor thesis is create a program that will simplify development of automation visualizations using mappView technology in the development environment B&R Automation studio. The theoretical part of thesis contains more detailed description of mappView technology and its necessary components. At the beginning of the practical part is mentioned a selection of technologies that were used in development of the application, which should simplify development of mappView visualizations. Furthermore, in the practical part, we describe the architecture of application, the process of creating application, the design of a graphical user interface of application and the integration of application in the development environment B&R Automation studio. The last chapter shows the whole process of developing mappView visualizations in the development environment B&R Automation studio and the use of application in this process.
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Robotic table football - control of game axes
Sláma, Ondřej ; Lang, Stanislav (referee) ; Parák, Roman (advisor)
The purpose of this bachelor thesis is to build on top of already developed solution of B&R Automation's robotic table football and to improve existing problematic areas. Particularly aiming at modularization of the axis control software and subsequent dynamic motion optimization. In the introductory part of the thesis already developed solution are discussed as well as brief description of B&R company and research on the topic of electric drive control. Following chapters describe the implementation of axis control software along with the design of two types of dynamic optimization. The thesis was extended with design of module for human axis detection along with simulation and implementation of proposed signal filtering algorithms developed in the MATLAB development environment.
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ABB RobotStudio - robot control using PLC B&R Automation
Mittaš, Eduard ; Lacko, Branislav (referee) ; Lang, Stanislav (advisor)
The goal of this bachelor thesis is to demonstrate various ways of communication with the controller of the robot as well as consecutive controlling of this robot. The simulation will be achieved by using the TCP/IP protocol, while the communication in the laboratory with real equipment will be assured by Profinet bus. This thesis will show also another solution, which is simple communication and connection between Microsoft Visual Studio and Robotstudio by using TCP/IP protocol. Initial chapters will describe ABB and B&R Automation companies, their control systems, history and information associated with them. Following chapters will serve as a guide describing creating of application in each of three presented solutions.
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Object positioning in 3D space using parallel cable-driven robot
Rajnoha, Andrej ; Dokoupil, Jakub (referee) ; Pivoňka, Petr (advisor)
At the beginning of this master’s thesis the definition of types of robots using parallel kinematics are presented, its possibilities of usage and current prototypes are described. The second chapter focuses on the proposal of robot construction and sizing electric and non-electric components of robot hardware. Derivation of direct and inverse transform mechanisms with creating flowcharts of their algorithms are stated in the two following chapters. The state machine controlled from user interface is then programmed based on these flowcharts. At the end of the work, cable-driven robot positioning accuracy is evaluated and platform workspace, together with motion and electric parameters, are measured.
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Robotic table football - game strategy
Parák, Roman ; Matoušek, Radomil (referee) ; Lang, Stanislav (advisor)
The aim of the master's thesis is the robotic table football device modification and the design of game strategies. The thesis was extended by the design of technology for the robotic table football safety and the design of the Human Machine Interface (HMI). In the introduction so far developed solutions and presentation of the B&R Automation company are described. The following chapters describe mechanical solution modification, electrical wiring diagram design, creating simulation in the MATLAB development environment, resolving security issues and the subsequent application of a solution into the robotic table football. The conclusion of the thesis is devoted to the visualization interface design.
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Design and implementation of control program for CNC machine via B&R Automation
Vavrík, Michal ; Lang, Stanislav (referee) ; Parák, Roman (advisor)
The aim of the diploma thesis is the robotization of a conventional milling machine to a CNC milling machine using a programmable logic controller. The theoretical part of the thesis contains a description of machine tools and industry 4.0, an overview of Optimum Maschinen and B&R Automation companies, including products, and a description of the G code programming language. At the beginning of the practical part, the selected hardware, its connection and tuning of motors are described. Furthermore, the practical part explains the method of motor control and processing of CNC programs in G code. The following chapters discuss the creation of industrial visualizations for machine control and digital twin for testing purposes. The conclusion describes the evaluation of the results and indicates the possibilities for future expansion of the machine and its implementation in an automated cell in the sense of industry 4.0.
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Robotic insertion into a machine tool
Pála, Matěj ; Dokoupil, Jakub (referee) ; Pivoňka, Petr (advisor)
Master’s thesis deals with the process of an insertion and movement of different workpieces and profiles. In the first, theoretical, part, the definition of types of robots and description of their kinematics are presented. The second part deals with the analysis and research of the possibilities of communication between the B&R control unit and the ABB robot, including a description of the equipment in the workplace. In addition, the concept of the robot control program and mainly the management of communication between units are presented. At the end of the work is the description of testing and verification of the concept.
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