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Dissertations / Theses on the topic 'Robotour'
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Kubát, David. "Robot pro Robotour 2010." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2010. http://www.nusl.cz/ntk/nusl-237108.
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The objective of this master's thesis was to get acquainted with an autonomous outdoor robot competition - The Robotour and further to study the capabilities and information about a robot designed on the DITS FIT Brno VUT. Next part of the project was to study various planning and localization algorithms and to make a proposal of a functional solution, allowing the robot to participate in the competition. To be specific, the goal of this work was to use the acquired knowledge for implementation of an antonomous software so the robot can start in the year 2010 race. The solution also included several related mechanical modifications. The final solution fulfills all the competiton rules and is capable of taking part in this year's plant.
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Kopecký, Martin. "Řídicí systém mobilního robotu Minidarpa." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2010. http://www.nusl.cz/ntk/nusl-218315.
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This master‘s thesis deals with theme of autonomous mobile robots. In sequence of the bachelor’s thesis its goal is to design a control system of the outdoor mobile robot for Minidarpa type competition. It could be practically used for an autonomous transportation of material. In design of the control system the attention is aimed at planning algorithms which are divided into the local and the global parts. Most of the work is paid to a global planning algorithm, which plans, in help with graph algorithms, points needed to travel to achieve the goal. The global map is defined in RNDF file which must be preprocessed for needs of planning. There are designed classes in C++ language for communication with subsystems too. The control system further contains graphical interface for operation of the robot and a remote control through a wireless gamepad.
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Libra, Jaroslav. "Řízení pohonů mobilního robotu Minidarpa." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2010. http://www.nusl.cz/ntk/nusl-218389.
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The main task of this master’s thesis is to design circuits for feedback control of the main drives Minidarpa robot. It contains the description of power-driven mobile robot control theory and the DC motor. The second part deals with the design options of the control module and its mechanical design. The last part of the proposal made cascade speed control with current loop by using optimal module and the symmetric optimum methods.
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Thiemermann, Stefan. "Direkte Mensch-Roboter-Kooperation in der Kleinteilemontage mit einem SCARA-Roboter." [S.l. : s.n.], 2005. http://www.bsz-bw.de/cgi-bin/xvms.cgi?SWB11759364.
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Vargas, Ruiz Pedro. "Mr. Roboto." Tesis, Universidad de Chile, 2011. http://repositorio.uchile.cl/handle/2250/101326.
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Esta investigación se logró gracias a que poseo una tarjeta CMR Falabella para estudiantes, por lo tanto, no se encontró apoyo alguno en el Fondart, ni de parte del magíster en artes mediales como de la Universidad de Chile. Se me ha dificultado mi investigación por la falta de apoyo de los profesores como de la misma institución. Algo insólito si pensamos que es la primera investigación en arte y telerobótica en Chile. Es importante que lo escribiera estos hechos en mi tesis, si bien han sido una pincelada de los obstáculos encontrados en el transcurso de esta investigación. Como las dificultades de encontrar tecnología a bajo costo que sólo se encuentra en país del primer mundo. Cada vez que hacía un pedido tenía que esperar un mes y medio. Mi interés ha sido investigar un área poca desarrollada en Chile que es el Arte y la robótica.
Si ustedes, se interesan en indagar en esta área acerca del arte/robótica les dejo mi correo para que se contacten conmigo pedrovargasruiz@gmail.com estaré encantado en ayudarlos en la medida que pueda.
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Sundin, Anders, and Erika Sunesson. "Robotdjur i demensvården : En litteraturstudie." Thesis, Högskolan Dalarna, Omvårdnad, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:du-27866.
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Bakgrund: Demens är ett samlingsnamn för en grupp olika sjukdomar som drabbar hjärnan och dess funktioner. Terapidjur används för att lugna och förbättra livskvaliteten hos personer med demenssjukdomar. För att undvika problem som allergier, kostnader för skötsel och skador som kan uppstå vid användandet av levande djur har därför robotdjur utvecklats. Syfte: Att sammanställa aktuell forskning som beskrivit effekter och erfarenheter av robotdjur inom demensvården. Metod: En litteraturöversikt grundad på 15 vetenskapliga artiklar, publicerade mellan åren 2013 och 2018. Resultat: De flesta studierna visade på positiva effekter på social interaktion och att intervention med robotdjur kunde främja psykiskt välbefinnande och reducera ensamhet hos äldre med demenssjukdom. Resultatet från de olika studierna visade att med hjälp av ett robotdjur kunde isolering och avskärmning brytas. Inverkan på aggression och utåtagerande beteende varierade vid interaktion med robotdjur. Slutsats: Resultatet av denna studie visade att användande av robotdjur kan ha positiv effekt på social interaktion och livskvalitet. Vidare kan användande av robotdjur ha en lugnande inverkan och dämpa agitation samt reducera nedstämdhet hos äldre personer med demenssjukdom.<br>Background: Dementia is an umbrella term which involves a number of diseases that effects the brain and its functions. Animal assisted therapy is being used to calm and enhance the overall quality of life for people who suffers from dementia. To avoid problems like allergies and costs that involves care for the animals and for the damages that they might cause, the development of the robotic animal has begun. Aim: To compile current research, which highlights the effects and experiences of using robotic animal in the care of people who suffers from dementia. Method: Literature review based upon 15 scientific studies, published between the years 2013 and 2018. Results: Most studies pointed towards a positive effect upon social interaction and that intervention with a robotic animal could promote mentaly well-being as well as reducing loneliness in elderly people suffering from dementia. The result from the studies showed that using a robotic animal could help break isolation among the participants. The effects on aggression and extroverted behaviour when using an robotic animal showed a varying result. Conclusion: The results of this study shows that the use of robotic animals could have positive effects on social interaction and quality of life. A robotic animal could also have a calming impact on agitation and reduce depression in people who suffers from dementia.
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Hamdi, Mohamed Salah. "Entwurf adaptiver lernender Roboter." [S.l. : s.n.], 1999. http://www.sub.uni-hamburg.de/disse/24/diss.ps.
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Winkler, Alexander. "Sensorgeführte Bewegungen stationärer Roboter." Doctoral thesis, Universitätsverlag der Technischen Universität Chemnitz, 2014. https://monarch.qucosa.de/id/qucosa%3A20403.
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Den Kern der vorliegenden Arbeit bilden sog. sensorgeführte Roboterbewegungen, d. h. die Nutzung von Informationen externer Sensoren zur Regelung des Roboters. Da gängige Industrierobotersysteme üblicherweise positionsgeregelt sind und seitens der Robotersteuerung lediglich der Zugriff zu den Sollwerten der Lageregelkreise erlaubt wird, kann auch der Regelkreis der sensorgeführten Roboterbewegung nur über den Lageregelkreis geschlossen werden. Aus diesem Grunde werden hier nur positionsbasierte Regelungsansätze verfolgt.
Die Kraft-/ Momentregelung gilt als eine der wichtigsten Varianten sensorgeführter Roboterbewegungen. Dementsprechend widmet sich auch ein großer Teil dieser Arbeit dem Thema, mit dem Ziel durch innovative und übersichtliche Regelalgorithmen die Akzeptanz der Kraft-/ Momentregelung in industriellen Produktionsprozessen zu erhöhen. Beginnend mit der eindimensionalen Kraftregelung führt der Weg dabei über Konzepte zur Konturenverfolgung und kraft-/ momentgeregelten Montageaufgaben hin zur Kooperation von Robotern.
In einem weiteren Teil wird ein Konzept zur Kollisionsvermeidung zwischen Robotern und Hindernissen präsentiert. Es basiert auf dem Ansatz der virtuellen Potential- bzw. Kraftfelder. Dabei ruft das künstliche Feld eine Bewegung des Roboters hervor, die vom Hindernis weg führt. Um das Feld zu erzeugen, wird die Methode der künstlichen Punktladungen entwickelt. Diese werden auf der Oberfläche eines Hindernisses platziert und generieren dann das virtuelle Kraftfeld. Die Platzierung kann z. B. mithilfe der CAD-Daten des Hindernisses erfolgen. Bei bewegten Objekten müssen alle Ladungspositionen ständig aktualisiert werden.
Für Lehr- und Präsentationszwecke ist das sog. inverse Pendel eine oft genutzte Regelstrecke. Sein Aufrichten und Stabilisieren ist auch mit Hilfe eines Industrieroboters möglich. Dazu beschäftigt sich ein Kapitel dieser Arbeit mit Fragen zur Modellbildung der Kombination inverses Pendel und Industrieroboter und mit Regelungskonzepten für das Aufschwingen und Balancieren. Letztendlichen wird in diesem Zusammenhang noch ein Visual-Servoing System präsentiert, dass den Neigungswinkel des Pendels mit einer Kamera bestimmt.
Alle hier vorgestellten Konzepte und Algorithmen werden Anhand von praktischen Experimenten verifiziert.<br>This work deals with so-called sensor guided robot motions, which means using the data of external sensors to control the robot. The control loop of the sensor guided robot motion can be only closed around the position control loop, because industrial robot systems usually work position controlled and only access to the desired positions is enabled. For this reason here only position based control approaches are regarded.
Force/torque control is a very important type of sensor guided robot motions. According to this, a good portion of this work deals with the subject of force/torque control. Thus, the acceptance of force/torque control in industrial production processes should be increased, by using innovative and clear control algorithms. For this purpose force control in one degree of freedom, contour-following, force/torque controlled assembling tasks and the cooperation between robots are discussed here in different chapters.
Thereafter, a concept to collision avoidance between robots and obstacles is presented. It uses the approach of virtual potential/force fields. In this case the artificial field induces a robot motion away from the obstacle. The method of artificial charges is developed to generate this field. For this purpose virtual charges are placed on the surface of the obstacles. Placing of the charges can be performed using e.g. CAD data of the obstacles. Having moving obstacles charge positions must be updated continuously.
The inverted pendulum is commonly used teaching students in control theory. The swinging up and the stabilization of the pendulum also can be performed by an industrial robot. One chapter of this work deals with modelling of the robot mounted inverted pendulum and control algorithms for its swinging up and its stabilization. Finally, in combination with the inverted pendulum a visual-servoing system is presented, which measures the pendulum inclination angle by camera.
All concepts introduced in this work are verified by practical experiments.
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Winkler, Alexander. "Sensorgeführte Bewegungen stationärer Roboter." Doctoral thesis, Universitätsbibliothek Chemnitz, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-qucosa-197679.
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Den Kern der vorliegenden Arbeit bilden sog. sensorgeführte Roboterbewegungen, d. h. die Nutzung von Informationen externer Sensoren zur Regelung des Roboters. Da gängige Industrierobotersysteme üblicherweise positionsgeregelt sind und seitens der Robotersteuerung lediglich der Zugriff zu den Sollwerten der Lageregelkreise erlaubt wird, kann auch der Regelkreis der sensorgeführten Roboterbewegung nur über den Lageregelkreis geschlossen werden. Aus diesem Grunde werden hier nur positionsbasierte Regelungsansätze verfolgt. Die Kraft-/ Momentregelung gilt als eine der wichtigsten Varianten sensorgeführter Roboterbewegungen. Dementsprechend widmet sich auch ein großer Teil dieser Arbeit dem Thema, mit dem Ziel durch innovative und übersichtliche Regelalgorithmen die Akzeptanz der Kraft-/ Momentregelung in industriellen Produktionsprozessen zu erhöhen. Beginnend mit der eindimensionalen Kraftregelung führt der Weg dabei über Konzepte zur Konturenverfolgung und kraft-/ momentgeregelten Montageaufgaben hin zur Kooperation von Robotern. In einem weiteren Teil wird ein Konzept zur Kollisionsvermeidung zwischen Robotern und Hindernissen präsentiert. Es basiert auf dem Ansatz der virtuellen Potential- bzw. Kraftfelder. Dabei ruft das künstliche Feld eine Bewegung des Roboters hervor, die vom Hindernis weg führt. Um das Feld zu erzeugen, wird die Methode der künstlichen Punktladungen entwickelt. Diese werden auf der Oberfläche eines Hindernisses platziert und generieren dann das virtuelle Kraftfeld. Die Platzierung kann z. B. mithilfe der CAD-Daten des Hindernisses erfolgen. Bei bewegten Objekten müssen alle Ladungspositionen ständig aktualisiert werden. Für Lehr- und Präsentationszwecke ist das sog. inverse Pendel eine oft genutzte Regelstrecke. Sein Aufrichten und Stabilisieren ist auch mit Hilfe eines Industrieroboters möglich. Dazu beschäftigt sich ein Kapitel dieser Arbeit mit Fragen zur Modellbildung der Kombination inverses Pendel und Industrieroboter und mit Regelungskonzepten für das Aufschwingen und Balancieren. Letztendlichen wird in diesem Zusammenhang noch ein Visual-Servoing System präsentiert, dass den Neigungswinkel des Pendels mit einer Kamera bestimmt. Alle hier vorgestellten Konzepte und Algorithmen werden Anhand von praktischen Experimenten verifiziert<br>This work deals with so-called sensor guided robot motions, which means using the data of external sensors to control the robot. The control loop of the sensor guided robot motion can be only closed around the position control loop, because industrial robot systems usually work position controlled and only access to the desired positions is enabled. For this reason here only position based control approaches are regarded. Force/torque control is a very important type of sensor guided robot motions. According to this, a good portion of this work deals with the subject of force/torque control. Thus, the acceptance of force/torque control in industrial production processes should be increased, by using innovative and clear control algorithms. For this purpose force control in one degree of freedom, contour-following, force/torque controlled assembling tasks and the cooperation between robots are discussed here in different chapters. Thereafter, a concept to collision avoidance between robots and obstacles is presented. It uses the approach of virtual potential/force fields. In this case the artificial field induces a robot motion away from the obstacle. The method of artificial charges is developed to generate this field. For this purpose virtual charges are placed on the surface of the obstacles. Placing of the charges can be performed using e.g. CAD data of the obstacles. Having moving obstacles charge positions must be updated continuously. The inverted pendulum is commonly used teaching students in control theory. The swinging up and the stabilization of the pendulum also can be performed by an industrial robot. One chapter of this work deals with modelling of the robot mounted inverted pendulum and control algorithms for its swinging up and its stabilization. Finally, in combination with the inverted pendulum a visual-servoing system is presented, which measures the pendulum inclination angle by camera. All concepts introduced in this work are verified by practical experiments
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Lang, Sebastian. "Multimodale Aufmerksamkeitssteuerung für einen mobilen Roboter." [S.l. : s.n.], 2005. http://deposit.ddb.de/cgi-bin/dokserv?idn=97498406X.
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Abramovich, Alexander. "Roboto bazė mokymams." Bachelor's thesis, Lithuanian Academic Libraries Network (LABT), 2012. http://vddb.laba.lt/obj/LT-eLABa-0001:E.02~2012~D_20120928_104829-09307.
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Šiame baigiamajame darbe buvo suprojektuota ir pagaminta roboto bazė mokymams. Baigiamojo darbo tikslas – suprojektuoti bei pagaminti roboto bazę mokymams. Darbo objektas: roboto bazės mokymams projektavimas ir gaminimas. Bakalauro darbas susideda iš dviejų dalių: teorinės ir praktinės. Pirmoje darbo dalyje buvo atlikta esamos analogiškos komercinės įrangos (robotų) analizė bei robotų projektavime ir gaminime taikomų technologijų apžvalga. Praktinėje baigiamojo darbo dalyje pateiktas roboto projektavimo ir gaminimo aprašymas. Šioje dalyje taip pat buvo parašytos demonstracinės roboto veikimo principų programos. Atskirose plokštėse suprojektuotos maitinimo, variklių valdymo ir jutiklių grandinės. Darbe naudojami linijos siekimo, infraraudonųjų spindulių bei ultragarso jutikliai. Visi jutikliai buvo sėkmingai išbandyti ir, vadovaujantis šiais rezultatais, buvo rašoma programinė įranga.Suprojektuotas ir pagamintas robotas leis studentams susipažinti su pagrindiniais robototechnikos, elektrinių variklių valdymo ir jutiklių veikimo principais. Padarytas robotas negali būti laikomas galutiniu variantu. Darbe numatytos roboto tobulinimo galimybes prijungiant papildomus išorinius įrenginius.<br>The analysis of similar commercial equipment (robots) was conducted in the first part of the Thesis. The review of the technologies applied in the projecting and production of the robot was also presented in theoretical part. The practical part of the Thesis includes the description of the robot production and manufacture. In this part four demonstration programmes representing the principles of robot operation were written. he present robot will allow the students learning the main principles of robot technologies, control of electrical motors and operation of sensors. The produced robot shall not be considered to be complete and, thus, it presupposes the possibilities of upgrading and connection of additional peripheral equipment.
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Mitka, Darius. "Roboto valdymo sistema." Master's thesis, Lithuanian Academic Libraries Network (LABT), 2004. http://vddb.library.lt/obj/LT-eLABa-0001:E.02~2004~D_20040621_172148-76217.
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The final work of master studies reviews various industrial robots constructions and parameters, from which they are characterized. Robotics systems and control of flexible production have been discussed in here. Various robots’ drives and their control advantages and disadvantages are analyzed. In the practical part original robot global movement platform is suggested and algorithm of two flexible production bays handling is created. Static characteristics of linear drive used in platform are calculated. Using software package “Matlab Simulink” model of symmetrical linear induction motor (LIM) is created and dynamic characteristics are gained. Concluding part presents inferences and suggestions.
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Luneckas, Tomas. "Roboto trajektorijos optimizavimas." Master's thesis, Lithuanian Academic Libraries Network (LABT), 2009. http://vddb.library.lt/obj/LT-eLABa-0001:E.02~2009~D_20090709_144955-32538.
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Baigiamajame magistro darbe nagrinėjamas šešiakojo roboto judėjimas. Pateikiami vienos kojos atvirkštinės kinematikos uždavinio sprendimai Denavito ir Hartenbergo bei geometriniu metodais. Analizuojamas vienos kojos trajektorijos sudarymo metodas ir pateikiams jos aprašymo būdas. Pateikiami galimi trajektorijų pavyzdžiai. Sudaroma trikojės roboto eisenos seka bei diagrama. Darbe pateikiamas roboto valdymo algoritmas ir valdymo programa, atsižvelgiant į apibrėžtus variklių valdymo kriterijus. Eksperimentiškai tiriamas roboto judėjimas lygiu paviršiumi taikant trikoję eiseną. Pagal rezultatus koreguojama eisena. Atliekami trajektorijos pakartojimo tikslumo bandymai. Įvertinus rezultatus pateikiamos baigiamojo darbo išvados ir pasiūlymai.<br>Hexapod robot locomotion is analyzed in this paper. Inverse kinematics solutions are proposed for one leg using Denavit-Hartenberg and geometric methods. Trajectory forming for one leg is analyzed and solution for delineating trajectory is introduced. Possible leg trajectory examples are presented. Tripod gait sequence and diagram is designed for robot. Work presents robot control algorithm and program according to motor control parameters. Robot locomotion over regular terrain using tripod gait is tested. Gait then is corrected according to test results. Tests are made for trajectory repeating accuracy. Conclusions and solutions are made according to results.
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Valík, Michal. "Návrh mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2017. http://www.nusl.cz/ntk/nusl-318858.
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This diploma thesis deals with design of machinware of mobile robot. The purpose of this work is to design complete technical product documentation for manufacturing of a prototype. In first theoretical part of this thesis there is an analysis of contemporary situation of mobile robots. In second practical section, there is a design of all needed mechanical parts for tracked vehicle, all needed calculations are included. Diploma thesis contains hazard analysis, complete technical product documentation with 3D model included and final price statement.
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Hlaváček, Rudolf. "Návrh školního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2017. http://www.nusl.cz/ntk/nusl-319929.
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This thesis deals with the design of a low-cost robot used for educational purposes at robotic group Robotárna and at the secondary technical school SPŠ and VOŠ Brno, Sokolská, příspěvková organizace. The main intent of the robot is in teaching students programming. The research part deals with collaborational robots phenomenon and their practical usage in present production plants. The thesis covers the mechanical design of the robot, calculations of the required torques for each joints, design of the robot gripper and also a theoretical solution to robot control.
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Aspenvall, Darin Pia, and Kin-Chun Wong. "Robotar inom äldreomsorgen - vad tycker de äldre om bli vårdade av robotar? : en litteraturöversikt." Thesis, Sophiahemmet Högskola, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:shh:diva-3151.
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Bakgrund De äldre kommer att utgöra en allt större del av befolkningen, vilket kommer att öka behovet av äldreomsorg i samhället. Det kommer dock att bli svårt att rekrytera tillräckligt med personal för att personaltätheten inom äldreomsorgen inte ska minska i framtiden. Moderna arbetssätt och ny teknik kommer att behövas, och ett exempel på ny teknik som börjar komma inom äldreomsorgen är robotar av olika slag. Syfte Syftet var att undersöka kunskapsläget gällande äldre personers inställning till att vårdas av robotar inom äldreomsorgen. Metod En allmän litteraturöversikt har gjorts där 18 artiklar från databaserna Academic Search Elite, PsycInfo och PubMed inkluderades. Dessa har granskats och analyserats med en induktiv ansats för att besvara syftet. Resultat De äldres inställning till robotar skiljde sig åt ganska mycket. Många äldre kunde dock tänka sig att vårdas med robotar, om dessa kan hjälpa till i vardagen, låter den äldre känna sig mera självständig och kan bo kvar i hemmet ytterligare en tid. Många föredrar dock hellre mänsklig kontakt. Ibland kan en robot betraktas som en social varelse, och kan då vara ett sätt att minska den äldres ensamhet. Det är dock viktigt att de äldre är involverade vid införandet av robotar, så att de är införstådda med varför och delaktiga i när och hur införandet sker. Slutsats Både inställning och acceptans av robotar hos de äldre varierar, men många kan tänka sig robotar som en del av sin omsorg utan att det påverkar deras värdighet negativt. Respekt för den äldres val gällande införande av robotar är en del av en värdig omvårdnad. Mer forskning kommer dock att behövas i takt med att robotarna utvecklas och får mer avancerade funktioner. Med dagens teknologi är det tveksamt hur mycket robotar kan bidra till att kompensera för personalbristen. De enda funktioner bland dagens robotar som på allvar kan bidra till detta är kameraövervakning och fjärrkommunikation.
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Gloye, Alexander. "Lernmethoden für autonome mobile Roboter." [S.l. : s.n.], 2005. http://www.diss.fu-berlin.de/2005/36/index.html.
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Kiener, Jutta. "Heterogene Teams kooperierender autonomer Roboter /." Düsseldorf : VDI-Verl, 2007. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=016323532&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.
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Hofschulte, Jens. "Zweibeiniger Roboter mit parallelkinematischen Hüftgelenken /." Norderstedt : Books on Demand, 2006. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=016713447&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.
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Busemann, Martin. "Neuronale Netze zur Musterklassifizierung und Exploration des Raumes." [S.l. : s.n.], 2000. http://deposit.ddb.de/cgi-bin/dokserv?idn=962401315.
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Suppa, Michael. "Autonomous robot work cell exploration using multisensory eye-in-hand systems /." Düsseldorf : VDI-Verl, 2008. http://www.gbv.de/dms/bs/toc/571793746.pdf.
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Pehrson, Mats, and Daniel Sehlin. "Integrering av robotar hos Saab Aerostructures : En förstudie med huvudfokus på kollaborativa robotar och möjliga tillämpningar för dessa i produktionen av flygplansstrukturer." Thesis, Linköpings universitet, Industriell Produktion, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-129329.
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Denna rapport behandlar automationsmöjligheter inom Saab. Arbetet bedrevs på den civila sidan av Saab i Linköping, mer känd som Saab Aerostructures, som ett examensarbete på kandidatnivå. Flygplansindustrin har i dagsläget en relativt låg grad av automatiserad tillverkning. Detta till följd av de många olika komplicerade moment som utförs samt av den relativt låga produktionstakten. Syftet med det här examensarbetet var att undersöka möjligheterna till att utöka graden av automatiserad tillverkning inom Saab Aerostructures produktion. För att undersöka detta spenderades tid i produktionen för att studera hur arbetet utförs. Med hjälp av undersökningen och samtal med personer inom produktionen togs ett antal tillämpningar fram på uppgifter som kan tänkas automatiseras med en robot. Eftersom Saab har begränsad erfarenhet inom det här området är den här rapporten mer av en förstudie för att sätta bollen i rullning och få företaget att börja integrera nya lösningar för att få en mer effektiv och automatiserad tillverkning av flygplansstrukturer. Arbetet resulterade i att två stycken olika förslag på automationslösningar ges. De två förslagen skiljer sig en hel del åt vad gäller både uppgift och lösning. Det ena föreslås använda sig av en robot som går att arbeta med sida vid sida, utan fysiska avgränsningar i form av stängsel. Den andra lösningen använder en traditionell industrirobot i en vanlig miljö med en skyddsbur. Lösningen med den traditionella industriroboten ser mest lovande ut eftersom arbetet som roboten kommer utföra resulterar i att cirka 40 operatörstimmar per vecka frigörs. Payback-tiden för den investeringen är ungefär 4 år, vilket Saab anser vara överkomligt. Denna lösning kombinerar tre uppgifter: fräsning, tätning och målning som alla utförs på en lastdörr.<br>This report regards automation possibilities within Saab. The work was conducted at the Aerostructures division of Saab in Linköping, as a final thesis on a bachelor level. The aircraft industry today has a relatively low level of automated manufacturing. The reason for that is that it typically consists of several complicated operations and the production rate is relatively low. The purpose of this thesis was to examine the possibilities to increase the level of automated manufacture in production at Saab Aerostructures. To examine this, some time was spent studying how operations were conducted within production. The information collected combined with discussions within production resulted in a number of applications that might be possible to automate with a robot. Since Saab has limited experience in this field, this report should be considered as a pre-study to put the wheels in motion and initiate discussions regarding new solutions to achieve a more efficient and automated manufacturing process. The work resulted in two different suggested automation solutions. The suggestions differ in both scope and result. One of the suggestions uses a robot that an operator can collaborate with, without any safety fence. The other suggestion uses a traditional industrial robot in a more traditional robot cell. The suggestion of implementing a traditional industrial robot seems like the best alternative to proceed with. Its estimated payback time is approximately 4 years and it has the potential to reduce manual work by 40 hours a week. This solution combines three different operations that are conducted on the same cargo door: milling, sealing and painting.
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Sidiropoulou, Coster Sofia, and Isabelle Donnerberg. "Hur skapas robotar som accepteras av den äldre generationen? : En studie om robotar inom äldreomsorg." Thesis, Södertörns högskola, Institutionen för naturvetenskap, miljö och teknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:sh:diva-34653.
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Utvecklingen av robotar inom äldreomsorg går fort framåt. Det finns ett brett utbud av robotar för olika sammanhang. År 2050 förväntas en global fördubbling av andelen äldre människor. Robotar som kan hjälpa till i äldrevården har fått ökat politiskt intresse då den demografiska utvecklingen pekar på att andelen äldre kommer öka i omfattning. Denna rapport kommer att undersöka vilka faktorer som gör att äldre människor accepterar användandet av robotar samt hur experter inom robotik arbetar för att utveckla dessa. Studien kommer baseras på insamlad data från både äldre människor, 65 år och över, samt experter inom robotik. Till grund för uppsatsen har en mängd vetenskapliga artiklar använts. Resultatet av studien visar att faktorer som är viktiga för äldres acceptans av robotar går in under utformning, kunskap, säkerhet, integritet, lätt att använda samt uppfattad användbarhet. Studien visar att experter i nuläget arbetat väl med hänsyn till de äldre.<br>The development of robotics within the elderly care is moving fast forward. There is a wide range of robots for different occasions. By year 2050 it is expected that the worlds older population will be doubled. Robots that can help in the elderly care has thus gotten a political interest hence the demographic development that point to an increase in the proportion of elderly people. This essay will investigate which factors make elderly people accept the usage of robots and how experts in robotics work to develop these robots. The study will be based on data from both elderly people over 65 and experts in robotics and a number of scientific articles have been used for the essay. The results of the study show that factors that are important for older people's acceptance of robots fall under; configuration, knowledge, safety, integrity, perceived ease of use and perceived usefulness. The study shows that experts are currently working well with regard to the elderly.
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Tokic, Michel. "Entwicklung eines lernenden Laufroboters." [S.l. : s.n.], 2006. http://nbn-resolving.de/urn:nbn:de:bsz:747-opus-200.
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Semaško, Jaroslavas. "Roboto valdymo sistemos optimizavimas." Master's thesis, Lithuanian Academic Libraries Network (LABT), 2004. http://vddb.library.lt/obj/LT-eLABa-0001:E.02~2004~D_20040621_151339-93474.
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In final master thesis there are described robots’ control optimization methods and control algorithms. In review there are discussed automated control systems of robots and control of robots, compatibility of robot and microcontroller, problems of search optimization. The main master thesis aim is to optimize robot’s control system by using search optimization methods. An algorithm of URTK robot was optimized and new subroutine of robot control system was created. There was optimized transient process of robot control open system, using Kvazio1 software and its algorithmic methods of syntheses. Using results of research and there are made conclusions and suggestions.
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Sedlák, Luboš. "Senzorický systém robotu Minidarpa." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2010. http://www.nusl.cz/ntk/nusl-218314.
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This master’s thesis describes a sensorial subsystem of a mobile robot. The thesis mentions the structure and a basis of the satellite navigation. There are also described each systems and visualization techniques as e. g. WGS 84, including also other systems for specification of more accurate position on the Earth (EGNOS, WAAS and others). This thesis describes closely also a differential GPS and the corrections. For the purposes of the thesis there has been assembled GPS software for a fundamental and a remote station. There have been chosen and used modules for receiving a GPS signal and wireless modules for their communication. There are also used outcomes from the project of the Open Street Map in the thesis. Results of this project are described in details, decoded, adjusted and converted into RNDF file. At the end of this thesis there has been composed a function of the program for portable camera which works on principle time of flight. This portable camera is dedicated to look for immediate barrier and also for 3D space view in front of the robot. This thesis also including the process how the power source has been built up for this portable scanner.
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Stříteský, Vladimír. "Bezkolizní navigace mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2015. http://www.nusl.cz/ntk/nusl-221281.
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Thesis deals with automatic guided mobile robot focused on obstacle avoidance during ride on planned route. There are summaries of usually used obstacle detecting sensors and algorithms used for path finding. Based on this, own solution is designed. It uses waypoints changes to pass obstacle. MATLAB simulation is created for tests of new designed method. This method is implemented to real robot for real world testing. Reached goals and upgrade possibilities are summarized in bottom of thesis.
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Deďo, Michal. "Řízení čtyřkolového mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2011. http://www.nusl.cz/ntk/nusl-229688.
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The purpose of this thesis is to design and implement four-wheel mobile robot control which will be used in future in the field of mapping and localization. Concretely, it will be a design of drive control with microcontrollers Xmega, which will also process the signals of the sensors. Communication with the PC will ensure the BlueTooth module. In view of the future use of the robot, there will be designed and carried out modifications of the mechanical part. Correctness and functionality of all parts of the robot will be verified by carrying out basic movements.
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Vogel, Jan. "Tuhost ramene průmyslového robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2017. http://www.nusl.cz/ntk/nusl-318394.
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Stiffness analysis of an arm of an industrial robot with linear kinematics during a drilling operation. For solving this problem are used optical scanners. Finding the optimal cutting force for drilling by criterions: minimal deformation of robots arms and, at the same time, the emerging vibration from the cutting process is also minimal.
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Klobušníková, Zuzana. "Plánování cesty mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-377880.
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This master thesis deals with the planning of the robot's path using selected graph algorithms of artificial intelligence. The theoretical part describes the basic methods of planning a robot's path. It is related to the graph algorithm more closely. The practical part deals with implementation of selected graph algorithms, creation of simulation environment in Python, description and evaluation of experiments.
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Gurecká, Hana. "Monitorování pracovního prostoru robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-378012.
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The goal of theoretical part of the thesis is to sumarise basic procedures and algorithms for robotic workspace monitoring. The first chapter is focused on those procedures. Another important topic of thesis is problematics of floating point error in calculations accuracy. Representations of cones and conical surfaces are discussed in the last theoretical chapter. The practical part of the thesis is focused on implementation of cone AND truncated cone workspace monitoring algorithm in C++.
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Szabari, Mikuláš. "Konstrukce kráčejícího mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-382418.
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The diploma thesis deals with the construction of a walking mobile robot, which is intended for passing through a rugged or forest terrain, whose task is to collect the sample. The first part is devoted to the review of walking robots. Follow-up an analysis of two-legged and four-leg walking robot technologies and a brief overview of drives. The second part is devoted to problem analysis and design variant. The work contains 4 design variants in the form of schemes. Using the multi-criteria analysis, the variants were evaluated and the optimal variant was chosen taking into account the representative parameters. The third part is devoted to the construction of the chosen variant, it is divided into body and leg construction. The overall design is processed in the form of a virtual 3D model. In the leg construction, the design itself, but also the calculations of drives, shafts, gears and belt transmissions are solved. The end of the thesis is devoted to drawing documentation based on 3D model and economic evaluation. Follow-up and discussion with possible continuation and use in practice.
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Dlabaja, Štěpán. "Design univerzálního hasičského robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-416659.
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The topic of this master thesis is conceptual design of firefighting robot. The thesis shows alternative approach to designing robot in comparison with other current designs. The final product is quadrupedal robot, which can either walk or move on tracks. Robot is designed for indoor and outdoor firefighting.
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Bitterling, Johannes. "Entwurf rekonfigurierbarer Systemarchitekturen für mobile Roboter." [S.l. : s.n.], 2005. http://deposit.ddb.de/cgi-bin/dokserv?idn=974050547.
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Zeller, Frauke. "Mensch-Roboter-Interaktion : eine sprachwissenschaftliche Perspektive /." Kassel : Kassel Univ. Press, 2005. http://deposit.d-nb.de/cgi-bin/dokserv?idn=978424271.
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Gunzenhäuser, Randi. "Automaten - Roboter - Cyborgs Körperkonzepte im Wandel." Trier Wiss. Verl. Trier, 2001. http://deposit.ddb.de/cgi-bin/dokserv?id=2764077&prov=M&dok_var=1&dok_ext=htm.
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Holtgrewe, Dietmar. "Adaptive Regelung flexibler Roboter : Dietmar Holtgrewe." Paderborn : Igel Verlag, 1996. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=015291227&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.
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Stellmann, Patrik. "Ein selbstorganisierendes System autonomer mobiler Roboter." Tönning Lübeck Marburg Der Andere Verl, 2008. http://d-nb.info/991842731/04.
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Brauer, Robert R. "Akzeptanz kooperativer Roboter im industriellen Kontext." Doctoral thesis, Universitätsbibliothek Chemnitz, 2017. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-qucosa-228852.
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In der industriellen Fertigung wird fortlaufend neuartige Technik implementiert. In der Automobilindustrie stellen kooperative Roboter eine Form neuartiger Technik dar. Für die Einstellung gegenüber kooperativen Robotern und deren Nutzung spielt die Akzeptanz vor allem beim Erstkontakt eine entscheidende Rolle. Der Grund ist die quasi-soziale Interaktion mit menschlichen Interaktionspartnern. Damit es nicht zur grundlosen Ablehnung kooperativer Roboter als Form neuartiger Technik kommt, verfolgt diese Arbeit als Ziele die Erklärung und anschließende Beeinflussung der Akzeptanz gegenüber kooperativen Robotern auf Grundlage der „unified theory of acceptance and use of technology“ (Venkatesh, Morris, Davis, & Davis, 2003). Dafür wurden Einflussvariablen auf die Akzeptanz kooperativer Roboter identifiziert. Anschließend wurde die Beeinflussbarkeit der Akzeptanz untersucht und es wurden verschiedene Wege der Einführung eines kooperativen Roboters im Anwendungsfeld der Automobilindustrie miteinander verglichen. Die Akzeptanzsteigerung vor der eigentlichen Nutzung eines kooperativen Roboters konnte realisiert werden. Zudem ließen sich die Ergebnisse auch auf eine weitere Form neuartiger Technik im Untersuchungskontext übertragen<br>New technologies are constantly implemented in the industrial context. Cooperative robots are a new technology in the automobile industry. The acceptance of these is important for the user’s attitude towards and their usage of them before and during the first contact. The reason for that is the quasi-social interaction with human interaction partners. To counteract the possibility of an unsubstantiated rejection of the use of this new technology, this paper has the aims of explaining and subsequently influencing the acceptance of cooperative robots based on the „unified theory of acceptance and use of technology“ (Venkatesh, Morris, Davis, & Davis, 2003). Therefore variables affecting the acceptance of cooperative robots were identified. Afterwards the influenceability of the acceptance was tested and different ways of introducing a cooperative robot to new interaction partners in the new context of the automobile industry have been compared. As a result an increase of the user’s acceptance could be achieved before the actual use of the cooperative robot. Furthermore the results could also be transferred to another new technology in the same context of research
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Andersson, Mattias. "UDO : ett steg närmre friheten." Thesis, University West, Department of Technology, Mathematics and Computer Science, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:hv:diva-1360.
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Andersson, Lars A. A. "Multi-robot information fusion : considering spatial uncertainty models /." Linköping : Department of Management and Engineering, Linköping University, 2008. http://www.bibl.liu.se/liupubl/disp/disp2008/tek1209s.pdf.
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Krüger, Daniel. "Porting the MIRO Middleware to a Mobile Robot Platform." Master's thesis, Universitätsbibliothek Chemnitz, 2005. http://nbn-resolving.de/urn:nbn:de:swb:ch1-200500986.
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Mobile autonomous robotics in outdoor areas is a challenging task. This domain
combines many fields like computer science and electrical engineering.
This diploma thesis will show how Miro (Middleware for Robots) has been ported to a new mobile robot platform developed at the Institute for Automation at Chemnitz University of Technology.
Additionally, security aspects will be covered, that arise because CORBA is used as middleware, which is an open standard and by default implements no communication security between server and client.
Three approaches to solve this problem will be discussed.
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Grepl, Pavel. "Strojové vidění pro navádění robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-443727.
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Master's thesis deals with the design, assembly, and testing of a camera system for localization of randomly placed and oriented objects on a conveyor belt with the purpose of guiding a robot on those objects. The theoretical part is focused on research in individual components making a camera system and on the field of 2D and 3D localization of objects. The practical part consists of two possible arrangements of the camera system, solution of the chosen arrangement, creating testing images, programming the algorithm for image processing, creating HMI, and testing the complete system.
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Groulík, Tomáš. "Kamerový subsystém mobilního robotu Minidarpa." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2010. http://www.nusl.cz/ntk/nusl-218317.
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Master`s thesis is focused on mobile robotics and computer vision. There is briefly introduced a library of functions for image processing OpenCV. Then it deals with image processing and navigation of mobile robots using image data. There are described segmentation methods and methods for navigating through feature points.
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Šindelář, Jiří. "Plánování cesty neholonomního mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-229001.
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This thesis deals with robot path planning by means of selected methods. Specifically by the methods RRT, IGPPR and ISSD. The theoretical part contains the overview of existing methods for path planning and description of previously mentioned methods. The practical part describes implementation of each methods which are applied to nonholonomic mobile robot working in 2D workspace with static obstacles.
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Vodrážka, Jakub. "Návrh konstrukce mobilního autonomního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-229186.
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The thesis deals with design of the device for testing the localization techniques for indoor navigation. Autonomous robot was designed as the most appropriate platform for testing. The thesis is divided into three parts. The first one describes various kinds of robots, their possible use and sensors, which could be of use for solving the problem. The second part deals with the design and construction of the robot. The robot is built on the chassis of the differential type with support spur. Two electric motors with a gearbox and output shaft speed sensor represent the drive unit. Coat of the robot was designed for good functionality and attractive overall look. The robot is also used for the presentation of robotics. Thesis provides complete design of chassis and body construction, along with control section and sensorics. The last part describes a statistical model of the robot movement, which was based on several performed experiments. The experiments were realized to find any possible deviations of sensor measurement comparing to the real situation.
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Čížek, Lubomír. "Navigace robotu pomocí grafových algoritmů." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2011. http://www.nusl.cz/ntk/nusl-229513.
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This thesis deals with robot path planning by means of graph-based algorithms. The theoretical part contains basic approaches to robot path planning, and pay closer look at various methods of graph-based algorithms. In the second part of this thesis a simulation environment for robot navigation was created in C#. And in this environment chosen methods of graph-based algorithms have been implemented. This thesis was written within the research project MSM 0021630529: Intelligent systems in automation.
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Novotný, Stanislav. "Detekce mobilního robotu zpracováním obrazu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230171.
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This master´s thesis deals with processing of image sequence taken by statically placed camera over plane of robot movement. At first there are methods for image segmentation and localization methods described. In the next part, selected methods are implemented and compared to individual images. In the final part, selected methods are further implemented in algorithm for batch processing of image sequence.
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Knispel, Lukáš. "Pokročilé plánování cesty robotu (RRT)." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230248.
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Tato diplomová práce práce se zabývá plánováním cesty všesměrového mobilního robotu pomocí algoritmu RRT (Rapidly-exploring Random Tree – Rychle rostoucí náhodný strom). Teoretická část popisuje základní algoritmy plánování cesty a prezentuje bližší pohled na RRT a jeho potenciál. Praktická část práce řeší návrh a tvorbu v zásadě multiplatformní C++ aplikace v prostředí Windows 7 za použití aplikačního frameworku Qt 4.8.0, která implementuje pokročilé RRT algoritmy s parametrizovatelným řešičem a speciálním dávkovým režimem. Tento mód slouží k testování efektivnosti nastavení řešiče pro dané úlohy a je založen na post-processingu a vizualizaci výstupu měřených úloh pomocí jazyka Python. Vypočtené cesty mohou být vylepšeny pomocí zkracovacích algoritmů a výsledná trajektorie odeslána do pohonů Maxon Compact Drive všesměrové mobilní platformy pomocí CANopen. Aplikace klade důraz na moderní grafické uživatelské rozhraní se spolehlivým a výkonným 2D grafickým engine.
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Arnošt, Petr. "Návrh řídicího modulu UAV robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230255.
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This diploma thesis is focused on the design of the control software for the unmanned aerial vehicle. Parrot Ar.Drone quadrocopter was a representative of the unmanned aerial vehicle. This thesis describes the way of control and communication with the unmanned aerial vehicle. Based of this information the flight control software for Ar.Drone quadrocopter is created.