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Design of Rubik's Cube Solver
Palán, Petr ; Šperka, Petr (referee) ; Svoboda, Petr (advisor)
The Rubik’s Cube is one of the most famous puzzles in the world, it has evolved into countless variations and in its solving is competed all over the world. However, the record time for its solution is no longer held by a human, but by a robot. This bachelor thesis deals with the structural design and subsequent implementation of the mechanical part of the solver for the Rubik's Cube. A research of existing solvers is carried out and then individual conceptual designs are proposed. The chosen variant is then elaborated in the structural design. It individually controls 5 walls of the cube and thus ensures the possibility of its solving without the need for further positioning and at the same time there is space for comfortable insertion of the cube. The design is then realised by 3D printing. Thereafter an electronic part is connected to the created structure and a simple program written to test the structure is executed using a microcomputer. The result of the testing is that the design is functional but there is room for improvement.
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Automated tuning of drive controller
Adamec, Matúš ; Pohl, Lukáš (referee) ; Blaha, Petr (advisor)
This thesis deals with automated tuning of drive controller. To achieve this goal, system identification is needed. Therefore, the issue of identification is described at the beginning of this thesis. Spectral analysis was selected from many described methods. It was implemented in Matlab and also in C# language where was used averaging and Blackman-Tukey method. The C# application is linked to Beckhoff TwinCAT 3 and TwinCAT 2 runtime sytems that enable connections with real drive. Next, the problem of drive regulation is discussed and the results of using spectral analysis on real drives are shown. At the end of the thesis is described the algorithm of setting the speed controller with different types of frequency converters.
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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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Methodology of machine tool’s electric drive system modeling
Pruša, Radomír ; Černohorský,, Josef (referee) ; Kurfűrst, Jiří (referee) ; Huzlík, Rostislav (advisor)
The present dissertation is focused on the methodology of modelling of the machine tool drive. The initial chapters contain a review of the current state of knowledge in the field of drive modelling with a focus on the electromagnetic part, thermal field and drive control. The acquired overview and orientation in the subject matter has enabled the development of a systematic analysis on the topic of modelling the machine tool axis drive. The follow-up work was aimed at obtaining the appropriate quality of the output parameters, according to the subsequent use of the results. The reason for this approach is to ensure only a minimum of input parameters. At the same time, the individual parameters must be readily available or easily measurable. The actual methodology of the drive modelling method was also based on the described strategy. The basic building blocks were chosen to be the warming of the machine, the energy balance, the setting of the control structure and, last but not least, the positioning accuracy. The applied methodology was also verified at the end of the thesis under different operating conditions, which were adapted to multiple drive variations.
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Control and synchronization of electric drives in NI LabVIEW
Martini, Silvano ; Šubrt, Kamil (referee) ; Houška, Pavel (advisor)
This thesis in his beginning describes basics of motor controlling and function principles of EtherCAT bus. Majority of the thesis is devoted to extending module SoftMotion for development environment NI LabVIEW. There is described the basic concept of the module, ways of functions using, various programming approaches and examples. Realization of hardware control is mentioned at the end.
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Robotic Rubik's Cube Folding
Lukšíček, David ; Zuth, Daniel (referee) ; Marada, Tomáš (advisor)
This Master thesis deals with design, assembly realization and commissioning of the robotic system for automated solving of Rubik's cube puzzle. In the beginning of the thesis there are mentioned some of the existing projects for this purpose. Following chapters present desing concepts of the whole construction. In the final chapters there are mentioned software controlling structures as well as economical summary.
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Testing stand of synchronous machines
Král, Michal ; Pospišilík, Jiří (referee) ; Klíma, Bohumil (advisor)
This diploma thesis deals with a part of synchronous generator testing stand project. Thesis is focused on drive part of testing stand, the appropriate drive is chosen according to type of the tests. The attention is mainly on drive control, specifically on the configuration of frequency converter and software programming of the converter control in NI LabVIEW. Software also contains drive simulation program. Testing stands are sequentially installed and commissioned.
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Robotic Rubik's Cube Folding
Lukšíček, David ; Zuth, Daniel (referee) ; Marada, Tomáš (advisor)
This Master thesis deals with design, assembly realization and commissioning of the robotic system for automated solving of Rubik's cube puzzle. In the beginning of the thesis there are mentioned some of the existing projects for this purpose. Following chapters present desing concepts of the whole construction. In the final chapters there are mentioned software controlling structures as well as economical summary.
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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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Automated tuning of drive controller
Adamec, Matúš ; Pohl, Lukáš (referee) ; Blaha, Petr (advisor)
This thesis deals with automated tuning of drive controller. To achieve this goal, system identification is needed. Therefore, the issue of identification is described at the beginning of this thesis. Spectral analysis was selected from many described methods. It was implemented in Matlab and also in C# language where was used averaging and Blackman-Tukey method. The C# application is linked to Beckhoff TwinCAT 3 and TwinCAT 2 runtime sytems that enable connections with real drive. Next, the problem of drive regulation is discussed and the results of using spectral analysis on real drives are shown. At the end of the thesis is described the algorithm of setting the speed controller with different types of frequency converters.
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