This thesis deals about design and realization software application "Mobile robot studio" for planning path mobile robot in pseudo 3D world. It contains several tools, witch most important are: simulation control, path planning, world editor and commands editor for CAN. Application was made by technology .NET 2.0 and for 3D design was used Microsoft DirectX 9 API. This thesis has been supported by the Czech Ministry of Education in the frame of MSM 0021630529 Research Intention Inteligent Systems in Automation.

Diploma thesis deals with applications of vision system with KUKA robot in field of identification and sorting bigger amount of different objects. Introductory and theoretical part of the thesis describes present situation on industrial vision systems market and their usage. Diploma thesis include practical application of object (coin) recognition with SICK IVC 2D vision system and their sorting by industrial robot KUKA KR 3. Application is also concerned with network communication between camera and robot via PLC, programming in KRL language and programm for object recognition in IVC Studio.

This thesis describes the design of methodology for measuring the accuracy of robot machining. It describes the theoretical properties and classification of commercially available methods for precision measurement. In the practical part, a test workpiece is manufactured and positions and toolpaths are measured by the Pontos system. The proposals are based on the MCAE Systems company's equipment.

The dissertation deals with utilisation of multispectral optical measurement for data fusion that may be used for visual telepresence and indoor/outdoor mapping by heterogeneous mobile robotic system. Optical proximity sensors, thermal imagers, and tricolour cameras are used for the fusion. The described algorithms are optimised to work in real-time and implemented on CASSANDRA robotic system made by our robotic research group.

As already clear from the title, this dissertation deals with autonomous locomotive robot path planning, based on machine learning. Robot path planning task is to find a path from initial to target position without collision with obstacles so that the cost of the path is minimized. Autonomous robot is such a machine which is able to perform tasks completely independently even in environments with dynamic changes. Path planning in dynamic partially known environment is a difficult problem. Autonomous robot ability to adapt its behavior to changes in the environment can be ensured by using machine learning methods. In the field of path planning the mostly used methods of machine learning are case based reasoning, neural networks, reinforcement learning, swarm intelligence and genetic algorithms. The first part of this thesis introduces the current state of research in the field of path planning. Overview of methods is focused on basic omnidirectional robots and robots with differential constraints. In the thesis, several methods of path planning for omnidirectional robot and robot with differential constraints are proposed. These methods are mainly based on case-based reasoning and genetic algorithms. All proposed methods were implemented in simulation applications. Results of experiments carried out in these applications are part of this work. For each experiment, the results are analyzed. The experiments show that the proposed methods are able to compete with commonly used methods, because they perform better in most cases.

This thesis discusses walking robots issues, their classification, management and construction. There are listed the most famous motion algorithms and their graphical representation. Examples of existing walking robots are also mentioned in this thesis. There are also described modifications of hexapod robot, its hardware and software. The robot is controlled through graphical user interface, which displays data from all sensors, visualises positions of all legs and allows the creation of user defined gaits and its simulations.

This master thesis describes the design of increasing the efficiency of production lines with solder robots. In beginning of this work is a description of product and current process. There are also variants of design solutions for soldering palettes and the best on is chosen. The last part of this work includes design automation soldering process.

The thesis deals with the changes of a cable robot to a manipulator. The mechanical changes are mostly about adding an active part to a moving platform with the ability to transfer objects and the effort to exchange the silicon cables for metal ones. The main part of the thesis is the proposed design and implementation of the algorithm for detection of a possible collision of the cable robot with an object in its working space.

This thesis deals with modeling and simulation of production process, which consists of a few stationary robots. This model of production process is made in program Tecnomatix Process Simulate. Principle of digital manufacturing and virtual production is described in the first chapter. The second chapter describes how to work with program Tecnomatix Process Simulate and how to make a design of production process of continuous and spot welding. The controlling program of PLC SIMATIC 300 and the program for process visualization are described in the last chapter.

Les robots de téléprésence sont proposés à des étudiants dont la maladie, l’hospitalisation ou la situation de handicap, empêche la présence physique en classe. La mise en place de cette technologie, s’inscrit dans une logique d’inclusion scolaire, visant une forme de présence de l’étudiant, dans un établissement scolaire ou universitaire dit « ordinaire ». Cependant, aucune étude préalable n’a été réalisée pour rendre compte des dimensions inclusives de cette technologie dans un contexte éducatif. La présence d’un étudiant, médiatisée par un dispositif de téléprésence, démultiplie les espaces d’interactions qui se trouvent situés dans des environnements à la fois physiques et numériques. En effet, l’étudiant utilisateur du robot de téléprésence, dispose de possibilités d’actions dans un environnement distant, qu’il produit à travers un environnement numérique. Cette situation inédite révèle des espaces potentiels de perception et d’action sur le monde et transforme la modalité de présence de l’utilisateur. L’objectif de cette recherche est de proposer une conceptualisation des enjeux de l’utilisation de ce dispositif, dans une visée d’inclusion scolaire. Il s’agit d’une théorisation qui est ancrée dans l’expérience vécue par des étudiants qui utilisent un robot de téléprésence pour des raisons de santé, afin de participer à leurs enseignements. La compréhension de ces expériences subjectives des utilisateurs, assure l’ancrage empirique de notre conceptualisation, dont les résultats mettent en avant les concepts centraux de perception et d’action, qui s’inscrivent dans le concept de présence. Ainsi, dans un contexte d’enseignement configuré en présentiel et médiatisé par un robot de téléprésence, l’inclusion scolaire de l’étudiant utilisateur, se rapporte à une renégociation perceptive réciproque, de la coprésence de l’utilisateur et de l’environnement distant. / Telepresence robots are offered to students whose illness, hospitalization or disability, prevents physical presence in the classroom. The implementation of this technology, is part of a logic of inclusive education, aimed at a form of presence of the student, in a school or university called "ordinary". However, no prior study has been done to account for the inclusive dimensions of this technology in an educational context. The presence of a student, mediated by a device of telepresence, multiplies the spaces of interactions which are located in environments both physical and digital. Indeed, the student user of the telepresence robot has the possibility of actions in a remote environment, which he produces through a digital environment. This unprecedented situation reveals potential spaces of perception and action on the world and transforms the modality of presence of the user. The objective of this research is to propose a conceptualization of the stakes of the use of this device, in a goal of inclusive education. It is a theorization that is rooted in the experience of students using a telepresence robot for health reasons, to participate in their teachings. The understanding of these subjective experiences of the users, ensures the empirical anchoring of our conceptualization, whose results put forward the central concepts of perception and action, which are part of the concept of presence. Thus, in a context of teaching configured face-to-face and mediated by a telepresence robot, the student's inclusion in the classroom, refers to a reciprocal perceptual renegotiation, the co-presence of the user and the remote environment.