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Hexapod Robot Movement Control
Kocich, Martin ; Janoušek, Vladimír (referee) ; Rozman, Jaroslav (advisor)
At the beginning of the research, the skeleton of the hexapod robot was equipped with servomotors only and no control unit or sensors. The objective of this thesis is to develop an overall solution for the control of the robot in question. Furthermore, to create a graphical interface to control and monitor the robot using Qt environment. Raspberry Pi 4 and ROS software running on operational system Ubuntu 20.04 was chosen to control the hexapod. While researching available software options, an existing solution was found. This solution was extended with feedback from the servo motors and the control algorithms were modified. Furthermore, new hardware was tested, e.g.: cameras with depth sensing capability. The found solution is extended e.g. with additional motion modes, graphical interface, support for new hardware, updates to the outdated version of ROS and its components. All problems during the implementation of the solution have been sufficiently solved. This thesis walks through the entire research process and then breaks down the commissioning of the robot from skeleton to working solution.
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Joystick with variable force
Peťovský, Dan ; Horpatzká, Michaela (referee) ; Zikmund, Pavel (advisor)
This thesis deals with the design of joystick mechanism with force feedback function. The first part contains description of forces in the control of aircraft and description of the mechanisms used for the joysticks with force feedback function. The second part contains the design of the mechanism and knowledge in completing the prototype.
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Recent progress in pilot-aircraft haptic feedback
Suchnová, Klára ; Horpatzká, Michaela (referee) ; Zikmund, Pavel (advisor)
This bachelor thesis deals with the recent progress in pilot-aircraft haptic feedback. Haptic feedback is intended to help the pilot perform his tasks more easily. Above all, it should focus on relieving the strain on his vision and hearing to increase flight safety. It can be used not only for the actual control of the aircraft but also for other tasks such as navigation. Haptic systems bring a lot of advantages in the actual control of the aircraft, but they also have their disadvantages in certain cases.
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Joystick with variable force
Peťovský, Dan ; Horpatzká, Michaela (referee) ; Zikmund, Pavel (advisor)
This thesis deals with the design of joystick mechanism with force feedback function. The first part contains description of forces in the control of aircraft and description of the mechanisms used for the joysticks with force feedback function. The second part contains the design of the mechanism and knowledge in completing the prototype.
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