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Embedded Device for Robotic Arm Control
Kyzlink, Jiří ; Goldmann, Tomáš (referee) ; Orság, Filip (advisor)
This diploma thesis deals with a design and implementation of an embedded device (module), used to control a robotic manipulator. The module instructs servomotors of the manipulator to move according to the commands received via USB interface. The module consists of two double-sided printed circuit boards. The first one allows connection to the CAN bus, redundant and thus reliable power supply for servomotors as well as the whole module. The second board, compute oriented one, embeds powerful microcontroller used to communicate with the servomotors and to solve the kinematics tasks. As a part of the thesis a graphical user interface as well as a web-oriented interface were developed. Both interfaces allow full control of the manipulator. All the communicating buses, tools and methods used during the design and implementation phases of the work are described in the thesis. Finally, measurements proved improvement of the motion smoothness and response times in several orders of magnitude in comparison to the previous system.
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Game Projected on Touch-Enabled Table
Kovaľan, Patrik ; Hradiš, Michal (referee) ; Kapinus, Michal (advisor)
This thesis is about using ARTable for playing card game named Poker. The creation of the thesis is aplication which is transmitted on workspace of the table via projector and controlled with touchscreen. In this system there are components like robotic arm,camera, touchscreen or projector. Robotic arm is used for transporting cards. Camera scans cards and displays then on the touchscreen of the table. Aplication is used to combine digital and real world.
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Controlling of myoelectric prothesis
Tomanová, Markéta ; Bubník, Karel (referee) ; Janoušek, Oto (advisor)
The Master´s thesis summarizes the knowledge about controlling of myoelectric prostheses. The Introduction part of this work provides an overview of the anatomy of muscles and their contraction. In case of restricted function of hand, it is necessary to compensate this deficiency by using prosthetic limbs. Among one of the most technically difficult is robotic prosthesis. In this semestral work is myoelectric prosthesis replaced by a robotic arm. Arm is controlled by the electromyographic signals. The signals are recorded by Biopac acquision unit, then processed in LabVIEW and robotic system is controlled by the Arduino platform.
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Robotic arm
Kacetl, Jan ; Křenek, Ladislav (referee) ; Rajlich, Jan (advisor)
The aim of my bachelor's work is to project a design of computer controlled robotic arm pursuant art-design goals. This concept should highlight technical issue and introduce it to human through art style. Best art style to meet this requirements is Kinetic Art.
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3D scene reconstruction using Clifford algebras
Hrubý, Jan ; Návrat, Aleš (referee) ; Hrdina, Jaroslav (advisor)
Tato diplomová práce má za cíl seznámit čtenáře se stále ještě relativně novou a neznámou oblastí matematiky, s geometrickou algebrou. Nejdříve jsou uvedeny základní definice a poté jsou studovány vlastnosti obecné geometrické algebry. Další velká část textu se věnuje Konformní geometrické algebře, která je v současnosti jedna z nejvíce zkoumaných a aplikovaných geometrických algeber. Jsou popsány její algebraické a geometrické vlastnosti, konkrétně schopnost reprezentovat určité geometrické objekty jako vektory. Taktéž umožňuje počítat jejich průniky a konformní transformace. Další část textu je zaměřena na aplikace Konformní geometrické algebry, nejdříve k popisu kinematiky robotické ruky a poté v binokulárním viděni.
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Robotic hand
Pizúr, Lukáš ; Levek, Vladimír (referee) ; Šteffan, Pavel (advisor)
The aim of this work is to design a robotic hand, which will be controlled by wireless Wi-Fi, will be equipped with a camera and for easier operation will be designed control glove. The first part of the thesis is a theoretical analysis, various variants of sensors are described, which can be used for motion detection, each drive units and their control. Next chapters are focused on used electronic modules and microcontrollers. The second part is practical and is focused on the mechanical design of a five-finger robotic hand and fixing to a robotic arm. Also described is the control electronics of the entire robotic hand and the programmed firmware. Next, the design and implementation of the control glove is described. The last chapter describes the programmed application for the Android operating system.
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Robotic hand controll using virtual reality
Sláma, Pavel ; Bílek, Michal (referee) ; Vyroubal, Petr (advisor)
This bachelor thesis deals with possible solution of controlling robotic hand with virtual reality. To realize this work is used a prosthetic hand from the InMoov project. This thesis describes basic principles of 3D print technology and deals with materials suitable for manufacturing of a chosen robotic hand. As next describes function and controlling of servos, hand control using prototyping platform Arduino communicating with the computer with MyRobotLab software support. To capture movement is used motion sensor for virtual reality Leap Motion.
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Robot control with model servo motors using image processing
Bielik, Adam ; Marada, Tomáš (referee) ; Huzlík, Rostislav (advisor)
This bachelor thesis focuses on the implementation of a program to control a robotic arm with model servo motors using image processing. The goal is to dynamically and accurately move the robotic arm using visual feedback obtained from the HuskyLens camera. The camera tracks the movement of an object and subsequently, the control program performs a kinematic calculation and moves the arm to the same position as the tracked object. The control program runs on the Arduino Due platform. The thesis also contains theoretical knowledge about servo motors and image processing, and also includes capabilities and basic technical specifications about the used hardware.
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Technické zhodnocení možných konstrukčních řešení pro robotickou ruku
PAJTINKA, Martin
The diploma thesis deals with the technical evaluation of possible design solutions for a robotic arm, which should serve as a milking machine operator. The work was prepared in the SolidWorks program, which is available to students of the University of South Bohemia free of charge. First, the modeling program itself is described, followed by systems of possible control of robotic arms and the use of robots in agriculture. The information obtained results in a comparison of the modeled structure with the already available milking robots.
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