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Mobile devices for movement in dangerous environment
Bartušek, Jakub ; Pavlík, Jan (referee) ; Bilík, Martin (advisor)
This thesis deals with design of mobile robot for movement in dangerous environment. The first part of this thesis pays attention on area of mobile robot construction, different types of suitable sensors, motion planning algorithms and robot control. Second part is about construction and design of the robot. Motion planning algorithms are used for this robot and tested in enviroment.
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6 axis robot control in RTOS
Václavek, Miroslav ; Hrabec, Jakub (referee) ; Kučera, Pavel (advisor)
The thesis deals with the analysis, software design and the study of 3D kinematic model of robotic manipulator ROB 2-6. It creates the control software for this manipulator, containing user interface based on MFC applications. Moreover, the thesis is concentrated on the solution of various problems, e.g. non-linearity of servomotor or the limitation of manipulator´s attainability. Finally, it poses a documentation of the single project and offers new possibilities of further development in the control of this manipulator.
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Ground Vehicle Control by User Gestures
Chlud, Michal ; Materna, Zdeněk (referee) ; Beran, Vítězslav (advisor)
This bachelor's work is focused on basic methods leading to successful gesture recognition in video sequence using standard RGB camera. Key steps required for hand classification are described, mainly segmentation of input video based on skin color model. Next there are discussed methods for object tracking and gesture analysis. Main goal of this work is to demonstrate this knowledge by creating application which controls robot's movement by hand gesture analysis. Solution is proposed and individual implementation steps are described.
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3D Scanning with Proximity Planar Scanner
Chromý, Adam ; Burian, František (referee) ; Žalud, Luděk (advisor)
Tato práce popisuje konstrukci skenovacího systému pro tvorbu trojrozměrných modelů. Kombinace laserového scanneru a robotického manipulátoru tvoří velice flexibilní zařízení schopné snímat jak velké, tak malé a detailní objekty. Zařízení nachází uplatnění v mnoha aplikacích, zejména v lékařství, kde přináší řadu nesporných výhod proti stávajícím systémům. Práce popisuje mechanickou konstrukci zařízení, funkční principy a jeho kalibrační proceduru. Součástí práce je i software pro vizualizaci naměřených dat a jejich zpracování do podoby modelů se stínovaným povrchem. Výsledkem práce je funkční zařízení a rozsáhlý obslužný software.
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Ground Vehicle Control by User Gestures
Chlud, Michal ; Materna, Zdeněk (referee) ; Beran, Vítězslav (advisor)
This bachelor's work is focused on basic methods leading to successful gesture recognition in video sequence using standard RGB camera. Key steps required for hand classification are described, mainly segmentation of input video based on skin color model. Next there are discussed methods for object tracking and gesture analysis. Main goal of this work is to demonstrate this knowledge by creating application which controls robot's movement by hand gesture analysis. Solution is proposed and individual implementation steps are described.
|
|
|
3D Scanning with Proximity Planar Scanner
Chromý, Adam ; Burian, František (referee) ; Žalud, Luděk (advisor)
Tato práce popisuje konstrukci skenovacího systému pro tvorbu trojrozměrných modelů. Kombinace laserového scanneru a robotického manipulátoru tvoří velice flexibilní zařízení schopné snímat jak velké, tak malé a detailní objekty. Zařízení nachází uplatnění v mnoha aplikacích, zejména v lékařství, kde přináší řadu nesporných výhod proti stávajícím systémům. Práce popisuje mechanickou konstrukci zařízení, funkční principy a jeho kalibrační proceduru. Součástí práce je i software pro vizualizaci naměřených dat a jejich zpracování do podoby modelů se stínovaným povrchem. Výsledkem práce je funkční zařízení a rozsáhlý obslužný software.
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6 axis robot control in RTOS
Václavek, Miroslav ; Hrabec, Jakub (referee) ; Kučera, Pavel (advisor)
The thesis deals with the analysis, software design and the study of 3D kinematic model of robotic manipulator ROB 2-6. It creates the control software for this manipulator, containing user interface based on MFC applications. Moreover, the thesis is concentrated on the solution of various problems, e.g. non-linearity of servomotor or the limitation of manipulator´s attainability. Finally, it poses a documentation of the single project and offers new possibilities of further development in the control of this manipulator.
|
|
|
Mobile devices for movement in dangerous environment
Bartušek, Jakub ; Pavlík, Jan (referee) ; Bilík, Martin (advisor)
This thesis deals with design of mobile robot for movement in dangerous environment. The first part of this thesis pays attention on area of mobile robot construction, different types of suitable sensors, motion planning algorithms and robot control. Second part is about construction and design of the robot. Motion planning algorithms are used for this robot and tested in enviroment.
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Robot Control in Terms of Hamiltonian Mechanics
Záda, V. ; Belda, Květoslav
The paper deals with a mathematical modeling of robot motion and control. Instead of frequently used Lagrangian formulation of robot dynamics, this paper presents robot dynamics by Hamiltonian formulation. This formulation leads to different physical descriptive quantities considered for control design. In the paper, as a comparative control approach, PD control with gravity compensation is considered. The control approach considering Hamiltonian formulation is demonstrated for simplicity on two-mass robot-arm system. However, the explained modeling approach is general and it can be applied, e.g., to usual industrial articulated robots-manipulators with multiple degrees of freedom.
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