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Control of mobile robot
Vožda, Ondřej ; Skula, David (referee) ; Šembera, Jaroslav (advisor)
This thesis describes questions of developing the system for remote and presence control of a mobile robot (wheelchair). It is concerned with choice of a proper protocol for communications via wireless network, transmission of images from webcam and data from joystick. Next objective of the thesis is recognizing surrounding obstacles using ultrasonic range finders. Thesis describes observation arisen from using this type of sensors. One of the most important points of the thesis is to discuss the safety of usage of the developed system. In conclusion, possibilities for future development are stated.
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Overview of the principles of artificial muscles
Buchtová, Blanka ; Knoflíček, Radek (referee) ; Kočiš, Petr (advisor)
This bachelor thesis deals with the research study of principles of artificial muscles activity, used in the field of technical robotics and in the field of micromechanisms. The work involves both devices used commercially and experimentally, including specific applications of artificial muscles and areas of use. This work also includes a case study on the comparison of hydrogel muscle behavior. At the end of the work is evaluation of the experiment and overview of artificial muscles according to the speed of activation.
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Face Recognition
Duban, Michal ; Beran, Vítězslav (referee) ; Smrž, Pavel (advisor)
This Bachelor's thesis aimed to develop an application, executable by the robot PR2, capable of automatical recognizing and memorizing human faces which are displayed successively on video recorded by cameras placed on the robot.
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Design of a Robotic Cell for Operating a Jet Machine for Cleaning Castings
Vrána, Vojtěch ; Kubela, Tomáš (referee) ; Pochylý, Aleš (advisor)
The main goal of this master’s thesis is to create a design of robotic cell for operating of blasting machine. Operation of blasting machine consists of robotic manipulation of aluminium castings from input container to the blasting machine conveyor. After blasting operation aluminium castings are manipulated by robot from conveyor to output container. The part of the master's thesis is proposal of several variants of solution of design of robotic cell. Afterwards the best option is selected. The thesis also deals with design and selection of functional components in robotic cell. Functional verification of robotic cell is made in software Tecnomatix Process Simulate. Technical-economics evaluation is also part of this master’s thesis.
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Dynamic Scene Model for Mobile Robot
Görig, Jan ; Štancl, Vít (referee) ; Španěl, Michal (advisor)
This master's thesis focuses on representation of geometric information about the surrounding environment for robotic systems. Instead of a common point-cloud based representation, an environment model that stores information about objects described by bounding boxes and planes is proposed. These objects can be obtained from trained object detectors, planar surface detectors, etc. processing data from sensors (e.g. RGB-D camera). The information about the objects (position, etc.) stored in the model is constantly changing according to data obtained from detectors. The environment model is implemented as a module for Robot Operating System. To illustrate and visualize features of the model, a demonstration application was also prepared.
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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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Two channel stepper motor controller
Hýbl, Matouš ; Arm, Jakub (referee) ; Žalud, Luděk (advisor)
Cílem této práce je vývoj dvoukanálového kontroléru krokových motorů. V rámci práce je popsán jak vývoj elektroniky, tak vývoj příslušného software. Elektronika kontrolŕu je založena na mikrokontroléru STM32F405 a driverů krokových motorů vyráběných firmou Trinamic. Pro komunikaci s nadřazenými systémy je implementován protokol CANOpen a sběrnice I\textsuperscript{2}C a USB. Elektronika byla navržena v software KiCAD and využívá čtyřvrstvého plošného spoje a moderních výrobních technologií. Co se týká software, byl vyvinut jak firmware pro mikrokontrolér, tak software pro ovládání kontroléru. Obě části software využívají programovacího jazyka Rust, který se zaměřuje na bezpečnost práce s pamětí, rychlost a zero-cost abstrakce. Sekundárním cílem této práce je ukázat, jak lze tento programovací jazyk s výhodou použít pro programování nízkoúrovňového embedded software. Firmware kontroléru implementuje nezávislé řízení pohybu obou os kontroléru a to jak v rychlostním, tak v pozičním režimu a zároveň implementuje bezpečnostní funkce pro případy selhání komunikace. Výsledný kontrolér by měl být použit v rámcí výzkumné skupiny Robotiky a Umělé Inteligence a studenty na Ústavu Automatizace FEKT VUT.
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Controlling and construction of robotic arm
Sobota, David ; Vaněk, Jiří (referee) ; Vyroubal, Petr (advisor)
This work deals with creating of robotic arm including program for processor and computer interface with graphical programming for robotic arm. It search for solution, how to connect computer with board fittingly and how to create graphical interface for programming of the arm. Topic of this work is originated as the need to create learning tool for school subjects Computer projecting of production, logistic and ecology and Technological projecting and logistic.
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Fuzzy map models for mobile robots
Machek, Ondřej ; Burian, František (referee) ; Jura, Pavel (advisor)
This master thesis present a method for building topological maps for mobile robot navigation using neural network and neural fuzzy network. The master thesis concentrates on classification method. Neural fuzzy network is compared with two neural networks. It was also designed control algorithm exploration environment for autonomous mobile robot. This will rereduce the time to build the map. I developed simulation program in Matlab, which simulate move mobile robot in unknown environment.
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