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Robotic Arm Path Planning
Major, Tomáš ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
This bachelor thesis deals with the control of the Mitsubishi Melfa RV-6SL robot based on the planned path using the MoveIt library. In this thesis the reader can learn how to proceed and what information he needs when he wants to set the robotic arm in motion while using the MoveIt planning library with the ROS platform. The result of this work is the ability to control the Melfa RV-6SL robot with the ROS system, which is together with MoveIt briefly introduced at the beginning of this thesis.
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The Trilobot Model
Štěpán, Miroslav ; Janoušek, Vladimír (referee) ; Hrubý, Martin (advisor)
This MSc Thesis describes creation of motion model of mobile robot called Trilobot. This model is implemented into simple simulation tool. Some laboratory experiments with the robot are described in this paper. There is also some information about SmallDEVS tool and Squeak Smalltalk environment in which the model was implemented. Motivation of this work is effort to simplify the design and testing of navigation algorithms for Trilobot, which is available for students of FIT BUT in the robotics lab of department of intelligent systems. This simple simulation tool could partially reduce dependence on physical availability of this robot.
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Real Time Melfa Controlling Using ROS
Liška, Jakub ; Janoušek, Vladimír (referee) ; Rozman, Jaroslav (advisor)
The goal of this bachelor thesis is to explore the possibilities of controlling the industrial robotic arm Mitsubishi Melfa RV-6SL using ROS (Robot Operating System) and the subsequent implementation of this knowledge into a functional application. This work describes to the reader not only the theoretical foundations of the work, but also how to create the configuration packages needed to simulate the robotic arm in the simulation environment Gazebo, as well as real-time control of the real robotic arm. The text also describes path planning using the MoveIt library, based on poses of robotic arm selected in the Rviz visualization environment.
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Voice controlled robot in ROS framework
Černák, Ondrej ; Kůdela, Jakub (referee) ; Hůlka, Tomáš (advisor)
This thesis deals with the possibility of controlling a robot using voice and designing a robot in ROS Framework, that can execute simple motions. The thesis contains brief search about ROS Framework and the possibilities of voice-controlled robots. The next part deals with creating a model of a robot, implementing a speech recognition system and the use of said system to control a robot.
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Autonomous mobile robot motion planning strategy design
Doseděl, Miroslav ; Králík, Jan (referee) ; Věchet, Stanislav (advisor)
This work is concerned with planning the movement of the robot in space and near plants. The main goal is to realize the movement of a robot designed for operation in indoor areas of buildings for watering indoor plants. In the first part of the thesis, existing algorithms for motion planning and obstacle avoidance are presented. In the next part, a search dealing with Framework ROS is written. The individual movements performed by the robot are then described and testing on the real robot is carried out at the end.
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ROS framework utilization for autonomous mobile robot control system
Vávra, Patrik ; Krejsa, Jiří (referee) ; Appel, Martin (advisor)
Tato práce se zabývá vytvořením lokalizačního a navigačního systému mobilního robota pro vnitřní prostředí pomocí frameworku ROS. Stručně je zde představen projekt, v rámci kterého diplomová práce vznikla, a jeho cíle. V rešeršní části je v krátkosti popsán ROS framework, simulační prostředí Gazebo a senzory, kterými robot disponuje. Následuje vytvoření modelu robota a simulačního prostředí, v němž jsou vyzkoušeny lokalizační, navigační a další rutiny. V experimentální části je provedeno testování senzorů a popsáno využití jejich výstupů. Následně jsou upraveny a otestovány algoritmy ze simulace na reálném robotovi. V závěru jsou popsány vytvořené vzdělávací minihry. Hlavním výstupem této práce je funkční stavový automat, který umožňuje manuální ovládání, zadávání cílů pro navigaci a v případě potřeby zajistí autonomní nabití robota.
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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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Utilization of Robotic Operating System (ROS) for control of collaborative robot UR3
Juříček, Martin ; Matoušek, Radomil (referee) ; Parák, Roman (advisor)
The aim of the bachelor's thesis is to create a control program, its subsequent testing and verification of functionality for the collaborative robot UR3 from the company Universal Robots. The control program is written in python and integrates control options through the Robotic Operating System, where a defined point can be reached using pre-simulated trajectories of Q-learning, SARSA, Deep Q-learning, Deep SARSA, or using only the MoveIT framework. The thesis deals with a cross-section of the topics of collaborative robotics, Robotic Operating System, Gazebo simulation environment, feedback and deep feedback learning. Finally, the design and implementation of the control program with partial parts is described.
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The Rehabilitation of the historical center and adjacent surroundings of Kyjov with a focus on the public space
Lípová, Markéta ; Řehák, Filip (referee) ; Pavlovský, Tomáš (advisor)
The subject of the diploma thesis is “Rehabilitation of the historical center and the surrounding neighborhoods in Kyjov with main focus on public space”. Urbanistic solution covers an area in close distance from the Masaryk Square, where the effort is to offer housing in the newly designed residential district. Diploma thesis also contains a design for completion and increase of capacity of the social services complex which is adjacent to the park by Saint Josef Chapel. This park is a part of the urbanistic design as well. The studied area is bordered by the streets of Újezd, Dobrovského, Dvořákova, Klvaňova, Brandlova and Palackého třída. Although Kyjov is situated mostly on plains the studied area is in a hilly and disunited part of the city. Buildings in this area are rather low-rise and mainly used for housing purposes. The design is focused on offering varied housing, which relates to the existing buildings and develops unused public space. Scope of this diploma thesis also contains a vision for the year 2070. The vision focuses on an area currently with high-rise blocks of flats. This area is adjacent to the newly designed residential district.
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