|
|
Human-machine collaboration - using speech processing
Kisler, Štěpán ; Hůlka, Tomáš (referee) ; Juříček, Martin (advisor)
This bachelor's thesis focuses on the design and implementation of a voice control system for the UR3 CB series collaborative robot from Universal Robots, aiming to simplify human-robot interaction. The introduction provides an overview of collaborative robotics, including its history, successful applications, and the possibilities of programming collaborative robots. Additionally, it explores speech recognition technology, covering its applications, history, and methods. The practical section compares existing speech recognition systems and selects the most suitable one for robot voice control. It also details the development of a voice control program in Python and the testing of the entire system, both in simulation and real-world conditions in a robotics laboratory.
|
|
|
Utilization of Robotic Operating System (ROS) for control of collaborative robot UR3
Juříček, Martin ; Matoušek, Radomil (referee) ; Parák, Roman (advisor)
The aim of the bachelor's thesis is to create a control program, its subsequent testing and verification of functionality for the collaborative robot UR3 from the company Universal Robots. The control program is written in python and integrates control options through the Robotic Operating System, where a defined point can be reached using pre-simulated trajectories of Q-learning, SARSA, Deep Q-learning, Deep SARSA, or using only the MoveIT framework. The thesis deals with a cross-section of the topics of collaborative robotics, Robotic Operating System, Gazebo simulation environment, feedback and deep feedback learning. Finally, the design and implementation of the control program with partial parts is described.
|
|
|
Applications of Quaternions in Robot Kinematics
Doctor, Diana ; Vašík, Petr (referee) ; Matoušek, Radomil (advisor)
This thesis deals with the usefulness of the application of quaternions in representing robot kinematics. It begins by showing the relationship of quaternions to the more commonly-known complex numbers and how it can represent rotations in three-dimensions. Then, the dual quaternions are introduced to represent both the three-dimensional rotation and translation. It will then be used to derive the forward and inverse kinematics, particularly, for the Universal Robot UR3 which is a 6-DOF robotic arm. Lastly, an actual application of dual quaternions in robot programming will be demonstrated
|
|
|
Utilization of Robotic Operating System (ROS) for control of collaborative robot UR3
Juříček, Martin ; Matoušek, Radomil (referee) ; Parák, Roman (advisor)
The aim of the bachelor's thesis is to create a control program, its subsequent testing and verification of functionality for the collaborative robot UR3 from the company Universal Robots. The control program is written in python and integrates control options through the Robotic Operating System, where a defined point can be reached using pre-simulated trajectories of Q-learning, SARSA, Deep Q-learning, Deep SARSA, or using only the MoveIT framework. The thesis deals with a cross-section of the topics of collaborative robotics, Robotic Operating System, Gazebo simulation environment, feedback and deep feedback learning. Finally, the design and implementation of the control program with partial parts is described.
|
|
|
Applications of Quaternions in Robot Kinematics
Doctor, Diana ; Vašík, Petr (referee) ; Matoušek, Radomil (advisor)
This thesis deals with the usefulness of the application of quaternions in representing robot kinematics. It begins by showing the relationship of quaternions to the more commonly-known complex numbers and how it can represent rotations in three-dimensions. Then, the dual quaternions are introduced to represent both the three-dimensional rotation and translation. It will then be used to derive the forward and inverse kinematics, particularly, for the Universal Robot UR3 which is a 6-DOF robotic arm. Lastly, an actual application of dual quaternions in robot programming will be demonstrated
|
guest ::
