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System for Automatic Calibration of a Robotic Tool
Šála, David ; Chromý, Adam (referee) ; Žalud, Luděk (advisor)
This Master's thesis describes the design and implementation of an experimental sample for automatic calibration of a robotic tool using machine vision methods under the auspices of the company SANEZOO EUROPE s.r.o. It deals with the analysis of all used methods of performing TCP calibration, on the basis of which it is implemented. The application is based on the Point-counterpoint method, where the robot is guided against the calibration point from three different directions, all perpendicular to each other. The calibration point is set using the ArUco marker. In order to detect the endpoint are used images from two cameras that are at the right angles to each other. Using conventional computer vision methods and an HSV filter, the endpoint of the instrument is found in the images and is guided to the calibration point. From the obtained coordinates, the searched endpoint of the robotic tool in the robot coordinates is found using the optimization method Particle Swarm Optimization. This application, therefore, performs TCP calibration in a fast time, thus reducing production downtime almost without human intervention.
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Control of inteligent hause
Šála, David ; Pásek, Jan (referee) ; Bradáč, Zdeněk (advisor)
This bachelor thesis deals with control of intelligent house especially from the perspectives of heating, control of the lights and blinds and finally the security system. It focuses on the choice of appropriate hardware and it is description including the chosen platform UniPi Neuron. The middle part of this thesis focuses on the identification of the object, the determination of the corresponding equithermal curves, and the design of heating and boilers regulators. The Matlab / Simulink program was used to demonstrate the functionality of the zone controller for the selected room. The last chapter of this thesis focuses on the description of the Mervis IDE development environment and program created in this. Part of this, is also a demonstration of visualization (HMI), cloud database and the remotely access for the control and management of an intelligent house.
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System for Automatic Calibration of a Robotic Tool
Šála, David ; Chromý, Adam (referee) ; Žalud, Luděk (advisor)
This Master's thesis describes the design and implementation of an experimental sample for automatic calibration of a robotic tool using machine vision methods under the auspices of the company SANEZOO EUROPE s.r.o. It deals with the analysis of all used methods of performing TCP calibration, on the basis of which it is implemented. The application is based on the Point-counterpoint method, where the robot is guided against the calibration point from three different directions, all perpendicular to each other. The calibration point is set using the ArUco marker. In order to detect the endpoint are used images from two cameras that are at the right angles to each other. Using conventional computer vision methods and an HSV filter, the endpoint of the instrument is found in the images and is guided to the calibration point. From the obtained coordinates, the searched endpoint of the robotic tool in the robot coordinates is found using the optimization method Particle Swarm Optimization. This application, therefore, performs TCP calibration in a fast time, thus reducing production downtime almost without human intervention.
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|
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Control of inteligent hause
Šála, David ; Pásek, Jan (referee) ; Bradáč, Zdeněk (advisor)
This bachelor thesis deals with control of intelligent house especially from the perspectives of heating, control of the lights and blinds and finally the security system. It focuses on the choice of appropriate hardware and it is description including the chosen platform UniPi Neuron. The middle part of this thesis focuses on the identification of the object, the determination of the corresponding equithermal curves, and the design of heating and boilers regulators. The Matlab / Simulink program was used to demonstrate the functionality of the zone controller for the selected room. The last chapter of this thesis focuses on the description of the Mervis IDE development environment and program created in this. Part of this, is also a demonstration of visualization (HMI), cloud database and the remotely access for the control and management of an intelligent house.
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