This thesis is focused in design low cost robotic manipulator known as SCARA. Chapters are sorted chronological by degrees of manipulator development. Thesis will present metods of inverse kinematics, that determines intaraction between joint rotation and cartesian coordina-tes of gripper. Next it introduces flowcharts for controlling machine and explains the control software determinater especially for microcontroller called Arduino MEGA.

This thesis implements solution for automatic docking for a mobile robot using visual markers. After initial survey of already implemented works, new docking solution is proposed. Feasibility of the solution is verified with tests of marker detection precision. The implementation is tested in a simulation and with a real robot. The functionality of the proposed solution is verified by long-term tests. The result of this work is robot’s ability to navigate known environment to find and dock a charging station. After charging the robot is able to safely disconnect from the station.

This thesis discusses adaptive control of cooperative robotic manipulator. It deals with gathering and processing of data from six degrees of freedom tensometer and their use in adaptive control.

This master thesis deals with path planning for multiple mobile robots. The theoretical part describes robot navigation -- mapping and path planning. Selected methods of artificial intelligence used in multi-robot path planning are described. In practical part simulator is implemented, in which selected algorithms were compared using experiments.

Robotics engineers' ongoing quest to create human-like robots has raised profound questions on their lack of ethical implications. The rapid progress and growth of humanoid robots is said to have a significant impact on society and human psychology in the near future. Interaction Design is a multidisciplinary field in which designers are often encouraged to engage in important conversations and find solutions to complex problems. On the other hand, animators often use animated videos as metaphors to reflect on important matters that are present in our cultural and societal spheres. This study investigates the use of animation in Speculative Design settings as material to bridge two communities together - the animators and roboticists, to foster ethical behaviors and impact future technology. The main result of the design process is a concept for a mobile platform that stimulates discussions on the ethical considerations of human relationships with humanoid robots, through speculative animation. Moreover, the interactive platform enhances imagination, creativity and learning processes between users.

The main goal of this project is to understand broadband sold Robonova-I humanoid robot and to design new improvements. The thesis is divided into five main chapters: The first of them (Robonova-I) is concerning the kit of Robonova-I, its completion and control possibilities. In details it deals with used servo motors, their operating and compares them. The next chapter is concerning the design of the control unit along with description of architecture of the processor and control possibilities with demonstrational board. In third there is a software solution of particular methods and commands which control the unit with demonstrational board. Chapter “The Design of Printed Circuit Board” describes facilities of the designed printed circuit board. The last chapter describes the final program for robot control through the use of computer and some of the algorithms by means of which the robot controls the microprocessor.

Control of wheeled chassis does not constitute a problem in the area of mobile robotic solely. Rather, it can be encountered in transportation, both at close range and long range. In this thesis, mobile chassis are characterized as kinematic models. These models prove to be erroneous at high speed, whereas they sufficiently accurately represent the real robotic system in situations when slow, autonomous motion of the robot is desired. In comparison with dynamic models, both their project and implementation are simpler, too. The first part of this thesis is focused on a basic description of the motion of a robot in-plane. In the next part, five, most frequently used wheels in robotics are described and characterized - standard fixed wheels, standard steering wheels, castor wheels, multidirectional wheels and omnidirectional wheels. The motion conditions are deduced from each type of wheel. There are two methods of projecting the mobile robot model – full modelling and generic modelling. Based on these two methods, six models of mobile robots with different motion properties are proposed and described. The last and most extensive part of this thesis deals with simulator of robot motion created in Matlab/Simulink. It includes users guide which allows the configuration of random chassis and various trajectories of motion. In this way, it is possible to visually evaluace and classify the the different types of robots. The core of this thesis is largely connected with the field of odometry – i.e. transformation output from speed sensor and turning of wheels sensor into the robot position in the system of coordinates that defines its working space. Simulator as complex only model motion of mobile robots in plain. Its inside structure included algoritms, that have been used in praxis for control real mobile robots. In this way created Simulator models the motion of mobile robots in-plain only. However, its inside structure is based on algorithms, that could be used for control of real mobile robots in real-life working.

The thesis deals with the analysis, software design and the study of 3D kinematic model of robotic manipulator ROB 2-6. It creates the control software for this manipulator, containing user interface based on MFC applications. Moreover, the thesis is concentrated on the solution of various problems, e.g. non-linearity of servomotor or the limitation of manipulator´s attainability. Finally, it poses a documentation of the single project and offers new possibilities of further development in the control of this manipulator.

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.

This master’s thesis elaborates on the control of a wheeled mobile robot and its sensor system. The sensors provide information about distances of obstacles in its surroundings and orientation in area. The communication is realized by radiomodems, commands and data are sent by serial link between microncontroller and the PC.