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Automated object tracking using robotic manipulator
Zelený, Miroslav ; Ligocki, Adam (referee) ; Chromý, Adam (advisor)
This diploma thesis deals with the tracking of objects using a robotic manipulator Epson C3 and a color camera. The work describes the basic qualities of the device to be used. The OpenCV library and its wrapper EmguCV are used as software tools for computer vision. It discusses the basic issues and principles of tracking objects in the image and introduces some methods of tracking. These methods have been tested and therefore their strengths and weaknesses, which appeared during testing, are listed here. Furthermore, there is a procedure for calculating the new coordinates of the camera and the manipulator effector using homogeneous transformations. The work contains the results of testing the algorithms and their evaluation. The output of the work is a test application for the Epson C3 robot.
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Robotic manipulator for ionizing radiation sample measurement
Míček, Vojtěch ; Štohl, Radek (referee) ; Petyovský, Petr (advisor)
This bachelor thesis is interested in designing of robot manipulator for measurement of active samples for ionizing radiation laboratory of Department of Electrical Power Engineering VUT Brno. The goal is to create robotic manipulator which will be easy to manufacture, easy to control, absolutely reliable, cheap and accurate enough. So, it will radically reduce time consumption of measurement of neutron field. Construction is based on FM-SYSTEME aluminium structural framing, manipulator is controlled by Arduino Nano and movement is provided by stepper motor Microcon SX23-1414 and drver TMC2208.
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Design of a robot gripper
Stoszek, Šimon ; Hůlka, Tomáš (referee) ; Matoušek, Radomil (advisor)
This bachelor's thesis is focused on robotic end-effectors, grippers in particular and is bringing their general overview. The goal of the thesis is to design, assemble and program a three finger gripper. The effector is designed using ROBOTIS Premium building set, especially Dynamixel actuators, obstacle detector and Bioloid frames, 3D printed parts. It is possible to use this three finger gripper in two configurations: centric for grasping spherical objects and parallel for grasping cylindrical objects. Functionality of this end-effector was successfully experimentally verified. Main benefits of the gripper are: its ability to adapt to shape and size of grasped object and to automatically initiate its grasping.
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Robotic Arm with Model Servos
Bobčík, Petr ; Nosko, Svetozár (referee) ; Zemčík, Pavel (advisor)
The main goal of this thesis was to create my own robotic manipulator, which is controlled by its own user interface. I made a robotic arm based on computer Raspberry Pi 3B+ with 5 digital servos and a gripping mechanism in the form of a claw, to which I also attached a laser pointer. The user interface problematics was solved by creating a simple web page (combination of HTML, PHP and JS), which i placed into the Apache 2 web server (installed in Raspberry Pi). I successfully incorporated a way to control the servo one by one and how to control the whole arm with inverse kinematics into the user interface.
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Implementing the checkers game using a robotic manipulator
Lichosyt, David ; Ligocki, Adam (referee) ; Lázna, Tomáš (advisor)
The thesis starts with a field research about existing robotic systems with implemented checkers or similar desk games. In its next parts are described posibilities of controling robotic manipulator Fanuc LR Mate 200iD 4S using controller R-30iB Mate from platform ROS located on external hardware. In few next pages of the thesis there are mentioned designed and used physical models. Following chapters describe real time game situation detection, game logic implementation and human input with safety in mind. At the end of the thesis there are mentioned rule checking algorithms, system operation instructions and possible future upgrades of the system.
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Calibration of Robotic Workspace
Uhlíř, Jan ; Veľas, Martin (referee) ; Kapinus, Michal (advisor)
This work is concerned by the issue of calibrating a robotic workplace, including the localization of a calibration object for the purpose of calibrating a 2D or 3D camera, a robotic arm and a scene of robotic workplace. At first, the problems related to the calibration of the aforementioned elements were studied. Further, an analysis of suitable methods for performing these calibrations was performed. The result of this work is application of ROS robotic system providing methods for three different types of calibration programs, whose functionality is experimentally verified at the end of this work.
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Optical Localization System with a Pan/Tilt Camera
Senčuch, Daniel ; Musil, Petr (referee) ; Beran, Vítězslav (advisor)
The effective surveillance of large critical areas is crucial for their security and privacy. There is no publicly available and acceptable solution of automating this task. This thesis aims to create an application utilizing a combination of a pan-tilt robotic manipulator and a visible-spectrum camera. Based on the pan-tilt unit's position and camera's images, the application searches for semantically significant changes in the captured environment and marks these regions of interest.
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Programming of an Educational Robotic Manipulator
Lichosyt, David ; Burian, František (referee) ; Lázna, Tomáš (advisor)
The thesis in theoretical part is about inner arrangement of ROS platform and principles behind ROS Industrial, Moveit and image processing. In its practical part is this theoretical knowledge applied on robotic manipulator Fanuc LR Mate 200iD/4S, its controller Fanuc 30iB Mate and industrial camera to create system for moving pieces across the board like in game name checkers.
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