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Robotic snake model control
Levek, Martin ; Matoušek, Radomil (referee) ; Hůlka, Tomáš (advisor)
The goal of this work was control of a robotic snake model in an unknown environment with randomly generated obstacles. The robotic snake is made of nine segments. These segments are serially connected with actuators, which are used to change the angle between neighboring segments. Its functionality was tested in a co-simulation between MATLAB Simulink and MSC Adams. The snake’s task was to slither through a gap between two walls and reach the target without a collision. The correlation between the snake’s behavior and the set movement parameters was observed.
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Design of a robotic snake model
Pollák, Jakub ; Dobrovský, Ladislav (referee) ; Hůlka, Tomáš (advisor)
The main objective of this thesis is to create a simulated robotic snake and its motion analysis followed by its testing on the simple tasks and subsequent evaluation of the obtained results. The first part of our thesis summarises the knowledge about biological snakes and the usage of robotic snakes in robotics. The second part deals with the description of the unique design and construction of a robotic snake. The last part is concerned with testing of the limits and overcoming obstacles from which the conclusion is drawn.
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Nonholonomic mechanisms geometry
Bartoňová, Ludmila ; Návrat, Aleš (referee) ; Vašík, Petr (advisor)
Tato diplomová práce se zabývá popisem kinematického modelu řízení neholonomního mechanismu, konkrétně robotického hada. Model je zkoumán prostředky diferenciální geometrie. Dále je odvozena jeho nilpotentní aproximace. Lokální říditelnost je zjištěna pomocí dimenze Lieovy algebry generované řídícími vektorovými poli a jejich Lieovými závorkami. V závěru jsou navrženy dva jednoduché řídící algoritmy, jeden pro globální a druhý pro lokální řízení, a poté následuje srovnání jednotlivých modelů.
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Realization of basic motion of robotic snake
Hadámek, Tomáš ; Šulc, Dalibor (referee) ; Krejsa, Jiří (advisor)
This thesis deals with the realization of robotic snake motion on planar surface. Control electronics had to be developed together with the power source management in order to implement motion control of already available mechanical subsystem of robotic snake. The first part of the thesis is focused on the analysis of existing mechanical subsystem, evaluation of possible solutions and design of control hardware. Second part summarizes particular motions of robotic snake and is further extended by the analysis of existing mathematical descriptions of snake motion, details regarding mathematical model development and implementation and simulation of the motion. The last part is devoted to the realization of robotic snake motion with real hardware. Working physical model of robotic snake represents the key outcome of this thesis. The robot is capable of several types of motion and can be used for further research and development.
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Geometric models of a snake robot control
Byrtus, Roman ; Hrdina, Jaroslav (referee) ; Vašík, Petr (advisor)
This thesis deals with the geometric theory of control of a robotic snake. The thesis includes required definitions of differential geometry and control theory, which are used to describe and derive the control model for a three segment robotic snake. The model is applied in the simulation environment V-REP.
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Control Theory of robotic snakes with more than three links
Tejkal, Martin ; Návrat, Aleš (referee) ; Hrdina, Jaroslav (advisor)
The subject of this Bachelor's thesis is control theory of mechanism that simulates snake's movement. From a viewpoint of control theory the robot is classified as nonholonomic system, controllability of which is determined by vector fields. Based on nonholomic constrain a set of input vector fields is obtained from a system of nonholonomic equations. The other vector fields that are necessary for controllability of the system are derived from the set of input vector fields by application of Lie bracket operation on two input fields. This set of vector fields is further analysed in particular points of the configuration space. Finally we discuss changes that need to be done in order to describe a mechanism created by adding one, or more new links.
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Control Theory of robotic snakes with missing wheels
Reichmanová, Barbora ; Vašík, Petr (referee) ; Hrdina, Jaroslav (advisor)
This thesis looks into the mathematical description of a three-sectional robot. The thesis deals with cases of wheels missing either on the middle or the last section or solely on the middle section. At first theoretical basis is mentioned including the terms such as vector and affinne space, Lie algebra, distribution or controllable system. Subsequently, there is presented formulation of equations describing a snake robot with missing wheels, solutions of equations, calculation of Lie brackets and discussion of controllability. The calculations are demonstrated on examples of various configurations of the robot.
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Design of a robotic snake construction
Pollák, Jakub ; Lang, Stanislav (referee) ; Dobrovský, Ladislav (referee) ; Hůlka, Tomáš (advisor)
This master’s thesis is a continuation of the author's bachelor's thesis "Design of a model of a robotic snake", a goal of which was the simulation of a robot created from parts of the Bioloid set and a demonstration of possible movements in the simulations. The aim of this thesis is the physical construction of the given robot and the experimental verification of its mobility by testing it on different surfaces. The first part of the thesis is focused on a summary of information about biological snakes and the use of robotic snakes in robotics. The second part describes the control method and the construction of the robotic snake. The last part deals with testing limits and overcoming obstacles. A conclusion is drawn from the results of the last part of the thesis.
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