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Link robots
Vidlák, Marek ; Kubela, Tomáš (referee) ; Simeonov, Simeon (advisor)
Master’s thesis deals with design the link robot and motion simulation. It is divided into four parts. In first part are briefly explained basic information of industrial robots and manipulators, their design and structure. Further it is listed some examples of design industrial robots and manipulators and principle of computation of kinematic chain. On beginning of the second part is performed analysis of configuration link robots, description of their designs and structures, examples of design link robots and their applications. In third part is selected option of design, created mathematical and kinematic model. Then it is designed and described construction of robot. The last section is devoted to simulation of robot’s kinematics, description of simulation softwares and their use for required results.
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Snake-like Robots Review and Simulation (Robotičtí hadi: recenze a simulace)
Stolnikova, Anna ; Hůlka, Tomáš (referee) ; Matoušek, Radomil (advisor)
This project has reviewed the snake locomotion and is to design a simulation of a snake-like robot motion as the real biological snake. One of the targets has been to create a simulation of a 6-chained robot, so the device will move flexible. The construction has multiple joints which enable it to have multiple degrees of freedom, giving it the ability to flex. So, the application is very useful in closed space and environment. Based on reviewed kinematic model of a snake motion, the code has been created to present the motion in simulation environment.
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Geometric control of a snake-like robot
Jašek, Dominik ; Hrdina, Jaroslav (referee) ; Návrat, Aleš (advisor)
This thesis deals with the nonholonomic mechanics, description of nonholonomic constraints and the control algorithms. In particular it focuses on snake with 4 links. From kinematic equations we derive elementary vector fields, later four more are added thanks to Lie bracket. Using these vector fields we are able to devise an algorithm for controling the snake. Furthermore, the thesis also includes a serpenoid input applicated in the simulation enviroment V-REP.
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Simulation of a robotic snake model
Janus, Peter ; Dobrovský, Ladislav (referee) ; Hůlka, Tomáš (advisor)
The thesis deals with the creation of a simulation of robotic snake model, which is then verified on a demonstrational task. In the first part of the thesis there is a brief search of knowledge about biological snakes and their movements. Second, practical part, describes the creation of snake model, programming methods and functionality of the model. Last part is aimed at evaluating the results, from which conclusion is made.
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Simulation of vehicle dynamics using V-REP software
Borek, Dušan ; Houfek, Lubomír (referee) ; Grepl, Robert (advisor)
This theasis deals with modeling dynamics and visualization of experimental vehicle CAR4 in software V-REP. The first part shows introduction with V-REP and its possibilities for usage in simulations. The second part presents modelling of CAR4 vehicle and its control by using software V-REP and Matlab. In last part are models of vehicle tested in simulation
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Geometric approach in robotic snake motion control
Vechetová, Jana ; Hrdina, Jaroslav (referee) ; Vašík, Petr (advisor)
Tato diplomová práce se zabývá popisem řiditelnosti specifického robotického hada, který se nazývá trident snake robot. Tento robot je řazen mezi neholonomní systémy. Model je převeden do jazyka diferenciální geometrie a řízen pomocí vektorových polí a operace na nich zavedené (Lieova závorka). Je také uvažována aproximace řídicí distribuce. Dále jsou formulovány pohyby hada ve směru vektorových polí a jejich kombinace, které zajišťují základní pohyby v prostoru (rotace a translace). Tyto pohyby jsou na závěr simulovány v prostředí V-REP.
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HIL simulation of manipulators or machines
Dočekal, Martin ; Marada, Tomáš (referee) ; Zuth, Daniel (advisor)
The diploma thesis deals with HIL simulation (hardware in the loop). The thesis contains a manipulator created in the virtual software V-REP. The connection of real inputs and virtual outputs of the machine is realized by the microcontroller Arduino UNO. The first task deals with the control of the manipulator using the joystick PS2. The second task is a separate control of the robot using an microcontroller Arduino UNO. The resulting connection can be modified in the furher and the interface modified. The work will be used for educational purposes.
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Modelling and simulation of robotic applications
Šťastný, Martin ; Heriban, Pavel (referee) ; Šťastný, Jiří (advisor)
The aim of this master thesis is to make research of Open Source software, which are used for simulation autonomous robots. At the begining is performed research of selected robotic simulators. In the first part of this work is to get familiar with robotic simulator Gazebo and robotic framework ROS. The second part of this work deals with simulating and subsequent implementation of choosen robotic tasks through the simulator Gazebo and the ROS framework.
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Robotic snake locomotion
Tran, Duc Viet ; Dosoudilová, Monika (referee) ; Hůlka, Tomáš (advisor)
The thesis is focused on creation of a simulation model of a snake-like robot, which is then tested on a demonstration task. First part of the thesis is dedicated to a brief analysis of basic snake locomotion and aplication of acquired knowledge in bionics. After that follows practical part, in which a snake-like robot koncept is developed and the models are then subjected to simple tests in simulation software. Final part of the thesis deals with processing of knowledge and acquired values, from which conclusions are then made.
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