The presented diploma thesis deals with the design and construction of a simple humanoid robot with two arms attached to a torso. The work was solved as a team project of two authors. Therefore, only the construction of the arm, which is inspired by the kinematics of the human arm is described in more detail. Its construction was the task of the author. An important part of the work is the selection of drives and sensors for the operation of the mechanism. Furthermore, the work presents the procedure of creating a kinematic model of the arms to solve the forward and inverse kinematics problem. For the possibility of motion control, the control of the control unit in Simulink was designed and the drive control was created.
| Identifer | oai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:417796 |
| Date | January 2020 |
| Creators | Chlaň, Jakub |
| Contributors | Křivánek, Václav, Najman, Jan |
| Publisher | Vysoké učení technické v Brně. Fakulta strojního inženýrství |
| Source Sets | Czech ETDs |
| Language | Slovak |
| Detected Language | English |
| Type | info:eu-repo/semantics/masterThesis |
| Rights | info:eu-repo/semantics/restrictedAccess |
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