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Design of the endpoint trajectory of the robotic arm using the virtual point method
Bubeník, Ľubomír ; Blaha, Petr (referee) ; Pivoňka, Petr (advisor)
The diploma thesis deals with a new approach to create a robotic arm trajectory. The first part descibes existing methods of trajectory planning. The second part shows virtual point method, implementation of the trajectory planning into the web environment and trajectory generation. Third part descibes the virtual robot model and designed comunnication protocols. The fourth part shows grafical user interface and his posibilities. The last part presents implemention of web aplication into industrial visualization.
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Trajectory Planning with Laser Proximity Scanner
Přecechtěl, Vít ; Burian, František (referee) ; Žalud, Luděk (advisor)
This thesis deals with a trajectory planning for a mobile robot using measured data obtained from proximity laser scanner, which is mounted on mobile robot. The document begins with brief explanation of the trajectory planning problem in an unknown environment. Thesis continues with description of proximity laser scanner, physical principles and its aplication in robotics. After that hardware and software resources used for implementation and testing algorithms are described. The most important hardware is proximity laser scanner SICK LMS111 and evaluation board STM32F4-Discovery with 32bit microcontroller ARM Cortex-M4F. Software SOPAS Engineering Tool provided by SICK company is used for setting LMS111 scanner. Microcontroller programming has been done in integrated development environment CooCox CoIDE. Last part of thesis describes the algorithms of data segmentation, planning the longest trajectory and planning wall following trajectory of mobile robot.
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Trajectory planning of Vehicle with Four Independently Steered Wheels
Śniežek, Roman ; Dobossy, Barnabás (referee) ; Brablc, Martin (advisor)
This thesis focuses on a kinematic model of a four-wheel steering vehicle and its simulation. The aim of the thesis is to use the kinematic model and path following algorithms to create a trajectory as a vector of the wheel steering angles dependent on a time and the distance travelled. This trajectory provides a collision-free transfer from starting position to the goal on a map with static obstacles. This could be used in an autonomous vehicle while navigating in a known enviroment
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3D Scanning with Proximity Planar Scanner
Chromý, Adam ; Burian, František (referee) ; Žalud, Luděk (advisor)
Tato práce popisuje konstrukci skenovacího systému pro tvorbu trojrozměrných modelů. Kombinace laserového scanneru a robotického manipulátoru tvoří velice flexibilní zařízení schopné snímat jak velké, tak malé a detailní objekty. Zařízení nachází uplatnění v mnoha aplikacích, zejména v lékařství, kde přináší řadu nesporných výhod proti stávajícím systémům. Práce popisuje mechanickou konstrukci zařízení, funkční principy a jeho kalibrační proceduru. Součástí práce je i software pro vizualizaci naměřených dat a jejich zpracování do podoby modelů se stínovaným povrchem. Výsledkem práce je funkční zařízení a rozsáhlý obslužný software.
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Path planning for semiautonomous convoy slave units
Hurban, Milan ; Růžička, Michal (referee) ; Krejsa, Jiří (advisor)
This bachelor thesis deals with the design of a trajectory planning method for semiautonomous convoy slave units. The main objective is to ensure that the unit calculates and follows a trajectory that closely matches the leading unit based mainly on image processing data from the camera. The thesis includes a MATLAB simulation of the whole convoy with manual control of the leading vehicle and an implemented path planning algorithm. The resulting code is ready to be integrated into a robust application where it will provide high-level control of each unit of the semiautonomous convoy.
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Model of a matting spray for 3D scanning for coating thickness prediction
Koupil, Michael ; Mendřický, Radomír (referee) ; Koutecký, Tomáš (advisor)
This master's thesis deals with the design of a method for measuring dimensional parameters of layers applied by a spray gun, followed by the design of a computational model capable of calculating the ideal trajectory dimensions to achieve the most consistent layer thickness, which can predict this thickness at any point. Another goal is to verify the functionality and quality of the simulation of the computational model through a comparative experiment. A method for measuring the thickness of the applied matting layer was proposed. Dependences of the thickness of the applied layer on the movement speed of the spray gun and the nozzle distance from the misted surface were determined. A mathematical model was designed to calculate the deposition thickness at a specific point on the trajectory, allowing for application along general trajectories. A mathematical model for simulation of the application process was proposed. The computational model allows for the choice between automatic calculation of ideal parameters and manual adjustment of custom parameters.
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Measuring And Optimization Methods Of Robotic Systems In A Simulation Environment
Benesl, Tomas
At this time it is necessary to use design tools and virtual model validation to plan the adaptation of algorithms to reduce costs and increase the efficiency of production systems. Using software tools it is possible to obtain and after that analyze data from the simulation environment. Using models and 3D space, it is also possible to analyze ranges of manipulators and collision areas. It is also possible to test robotic programs and find out the energy consumption, and possible cooperation of more robotic manipulators. This article discusses the use of ABB RobotStudio simulation tool for testing optimization algorithms and thus optimizing energy consumption. The article describes the measurement chain and contains measurement in simulation followed by the analysis of measured data.
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Trajectory planning of Vehicle with Four Independently Steered Wheels
Śniežek, Roman ; Dobossy, Barnabás (referee) ; Brablc, Martin (advisor)
This thesis focuses on a kinematic model of a four-wheel steering vehicle and its simulation. The aim of the thesis is to use the kinematic model and path following algorithms to create a trajectory as a vector of the wheel steering angles dependent on a time and the distance travelled. This trajectory provides a collision-free transfer from starting position to the goal on a map with static obstacles. This could be used in an autonomous vehicle while navigating in a known enviroment
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Design of the endpoint trajectory of the robotic arm using the virtual point method
Bubeník, Ľubomír ; Blaha, Petr (referee) ; Pivoňka, Petr (advisor)
The diploma thesis deals with a new approach to create a robotic arm trajectory. The first part descibes existing methods of trajectory planning. The second part shows virtual point method, implementation of the trajectory planning into the web environment and trajectory generation. Third part descibes the virtual robot model and designed comunnication protocols. The fourth part shows grafical user interface and his posibilities. The last part presents implemention of web aplication into industrial visualization.
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