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Design of omni directional mobile robot (O3-X) control
Olša, Petr ; Ošmera, Pavel (referee) ; Matoušek, Radomil (advisor)
This thesis deals with the design of a three-wheeled omni-directional robot control. The model of control is designed for robot´s omni-directional platform driven by maxon motor with the intelligent positioning controller EPOS. The design of control contains: - installation of the coordinated systems and transformation from one of them into another - design of system´s kinematical model - creation of classes for control and communication with EPOS - creation of the simulative program - planning of the mobile robot´s path - verification that the system is working The solution was based on continuous accelerated motion and the maximal acceleration of wheels was concerned, so that the slip would be suppressed. The function of the model was partly verified.
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An kinematic analysis of skid-steer wheeled mobile robot
Šafránek, Petr ; Jílek, Tomáš (referee) ; Burian, František (advisor)
In this thesis deals with an kinematic analysis of skid-steer wheeled mobile robot. In chapter we will focuse on theore about kinematice. In chapter two there is forward and inverse kinematice which will be implemented in the parametric simulator in chapter 3. Results of simulation are sumarized in chapter 4. The simulator is located in an attachment A and m-file with resullts processing is in attachment B.
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The Design and Realization of the Lowest Level Layer of the Control Unit for a Walking Robot
Olša, Petr ; Andrš, Ondřej (referee) ; Ondroušek, Vít (advisor)
This BA thesis is focused on the project and realization of the lowest layer of manipulation of the walking robot. The realization of the lowest layer contains: •installation of the coordinated systems •the solution of the inverse task of kinematics of the robot •creation of the simulative and communicative program •implementation of the inverse task of kinematics into the microcontroller •incorporation of serial communication between the PC and robot into the controlling system •realization of robot’s walking In the end, the ability of the controlling system to accomplish the orders in real time is tested.
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Movement control of an industrial robot model
Smrčka, Jiří ; Bradáč, Zdeněk (referee) ; Zezulka, František (advisor)
The thesis aims to put in practice control unit of industrial robot ROB 2-6. The control unit is put in practice with the use of processor from the ARM STM32F100 family. Altogether with the control module it is supposed to be also realized HMI which will enable program loading and servicing of the control unit. The visualization model and algorithm of track planning is also realized within this work.
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An simulation of the robot in webots and ROS
Musílek, Miloš ; Lázna, Tomáš (referee) ; Burian, František (advisor)
This work deals with the creation of a simulated manipulator with six degrees of freedom. The thesis describes simulation tools webots and Gazebo and the ROS system. The practical part deals with the creation of a simulation with a robot model and a simple environment. Subsequently, the simulated robot is coupled with the ROS system to create a controller that mimics real manipulators. The result is shown by moving an object using a set of instructions.
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An kinematic analysis of skid-steer wheeled mobile robot
Šafránek, Petr ; Jílek, Tomáš (referee) ; Burian, František (advisor)
In this thesis deals with an kinematic analysis of skid-steer wheeled mobile robot. In chapter we will focuse on theore about kinematice. In chapter two there is forward and inverse kinematice which will be implemented in the parametric simulator in chapter 3. Results of simulation are sumarized in chapter 4. The simulator is located in an attachment A and m-file with resullts processing is in attachment B.
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Design of omni directional mobile robot (O3-X) control
Olša, Petr ; Ošmera, Pavel (referee) ; Matoušek, Radomil (advisor)
This thesis deals with the design of a three-wheeled omni-directional robot control. The model of control is designed for robot´s omni-directional platform driven by maxon motor with the intelligent positioning controller EPOS. The design of control contains: - installation of the coordinated systems and transformation from one of them into another - design of system´s kinematical model - creation of classes for control and communication with EPOS - creation of the simulative program - planning of the mobile robot´s path - verification that the system is working The solution was based on continuous accelerated motion and the maximal acceleration of wheels was concerned, so that the slip would be suppressed. The function of the model was partly verified.
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Movement control of an industrial robot model
Smrčka, Jiří ; Bradáč, Zdeněk (referee) ; Zezulka, František (advisor)
The thesis aims to put in practice control unit of industrial robot ROB 2-6. The control unit is put in practice with the use of processor from the ARM STM32F100 family. Altogether with the control module it is supposed to be also realized HMI which will enable program loading and servicing of the control unit. The visualization model and algorithm of track planning is also realized within this work.
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