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Embedded Device for Robotic Arm Control
Kyzlink, Jiří ; Goldmann, Tomáš (referee) ; Orság, Filip (advisor)
This diploma thesis deals with a design and implementation of an embedded device (module), used to control a robotic manipulator. The module instructs servomotors of the manipulator to move according to the commands received via USB interface. The module consists of two double-sided printed circuit boards. The first one allows connection to the CAN bus, redundant and thus reliable power supply for servomotors as well as the whole module. The second board, compute oriented one, embeds powerful microcontroller used to communicate with the servomotors and to solve the kinematics tasks. As a part of the thesis a graphical user interface as well as a web-oriented interface were developed. Both interfaces allow full control of the manipulator. All the communicating buses, tools and methods used during the design and implementation phases of the work are described in the thesis. Finally, measurements proved improvement of the motion smoothness and response times in several orders of magnitude in comparison to the previous system.
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Design of a robot gripper
Stoszek, Šimon ; Hůlka, Tomáš (referee) ; Matoušek, Radomil (advisor)
This bachelor's thesis is focused on robotic end-effectors, grippers in particular and is bringing their general overview. The goal of the thesis is to design, assemble and program a three finger gripper. The effector is designed using ROBOTIS Premium building set, especially Dynamixel actuators, obstacle detector and Bioloid frames, 3D printed parts. It is possible to use this three finger gripper in two configurations: centric for grasping spherical objects and parallel for grasping cylindrical objects. Functionality of this end-effector was successfully experimentally verified. Main benefits of the gripper are: its ability to adapt to shape and size of grasped object and to automatically initiate its grasping.
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Robotic Arm with Model Servos
Bobčík, Petr ; Nosko, Svetozár (referee) ; Zemčík, Pavel (advisor)
The main goal of this thesis was to create my own robotic manipulator, which is controlled by its own user interface. I made a robotic arm based on computer Raspberry Pi 3B+ with 5 digital servos and a gripping mechanism in the form of a claw, to which I also attached a laser pointer. The user interface problematics was solved by creating a simple web page (combination of HTML, PHP and JS), which i placed into the Apache 2 web server (installed in Raspberry Pi). I successfully incorporated a way to control the servo one by one and how to control the whole arm with inverse kinematics into the user interface.
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Calibration of Robotic Workspace
Uhlíř, Jan ; Veľas, Martin (referee) ; Kapinus, Michal (advisor)
This work is concerned by the issue of calibrating a robotic workplace, including the localization of a calibration object for the purpose of calibrating a 2D or 3D camera, a robotic arm and a scene of robotic workplace. At first, the problems related to the calibration of the aforementioned elements were studied. Further, an analysis of suitable methods for performing these calibrations was performed. The result of this work is application of ROS robotic system providing methods for three different types of calibration programs, whose functionality is experimentally verified at the end of this work.
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Adaptive Planning of Industrial Robot Trajectory
Dizorzi, Matúš ; Burian, František (referee) ; Chromý, Adam (advisor)
This thesis deals with the extension of the RoScan scanning system features, making its behaviour more secure and adaptivte during scanning of the object on its whole trajectory. This work contains mathematical model of said manipulator, suggested methods to ensure proper behaviour during singularities. New features were added to the RoScan system such as control panel for manipulator control including new format of trajectory log, moving closer or further away from manipulator’s end effector and non adaptive trajectory testing for singularities. Result of this work is ready-to-use.
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Laboratorní manipulátor pro manipulaci se vzorky
STUDENÝ, Michal
The Bachelor thesis deals with technical solution design and ensuing constructing of laboratory manipulator. Among main aspects and goals belong solution of contruction, selection of appropriate drive (motors), sensors, controlling unit and other parts of mechanism. The next part of the project is to write a~program that will control the entire manipulator after uploading it to the microcontroller. The manipulator is able to grip the object and move it or hold it in the required position. Thanks to the sensors and precise motor control, it is possible to repeat these operations in programmed cycles. The main emphasis is on functionality and achieved parameters of the manipulator.
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Optical Localization System with a Pan/Tilt Camera
Senčuch, Daniel ; Musil, Petr (referee) ; Beran, Vítězslav (advisor)
The effective surveillance of large critical areas is crucial for their security and privacy. There is no publicly available and acceptable solution of automating this task. This thesis aims to create an application utilizing a combination of a pan-tilt robotic manipulator and a visible-spectrum camera. Based on the pan-tilt unit's position and camera's images, the application searches for semantically significant changes in the captured environment and marks these regions of interest.
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Design of electromagnet for handling the load
Mišún, Filip ; Vetiška, Jan (referee) ; Huzlík, Rostislav (advisor)
Goal of this bachelor thesis is to design an electro-permanent magnetic end effector for robotic manipulator, which allows manipulation with mostly metal plates of small thickness. Elaboration is divided into several sections. At the beginning are elaborated basic principles of electromagnetism, followed by short literary research about handling effectors. Next part proposes my own solution. In the last part, manufacturing is described and real properties of electro-permanent magnet are measured.
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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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