dc.contributor	Lobanov Vladimir, Ph.D.
dc.contributor.advisor	Záda Václav, doc. Mgr. Ing. CSc.
dc.contributor.author	Fedorov, Aleksandr
dc.contributor.other	Skolitel : 55316 Simová Jozefína, doc. Ing. Ph.D.
dc.contributor.other	Konzultant : 55406 Nováková Iva, Ing. Ph.D.
dc.contributor.other	Konzultant2 : 64615 Sajfrt Luboš, Ing.
dc.date	2015
dc.date.accessioned	2018-05-03
dc.date.available	2018-05-03
dc.date.committed	2015-05-15
dc.date.defense	2015-06-16
dc.date.submitted	2014-10-10
dc.date.updated	24.6.2016 17:13
dc.degree.level	Ing.
dc.description.abstract	In this work was accomplished a review and comparison of the methods which allows make the kinematic and dynamic models. We can distinguish two ways:- Classic and the most common way of representing a multi-link manipulator. In case of kinematic model it is algorithm Denavit-Hartenberg and the homogeneous transformation matrix, as well as the recursive method based on Newton's equations for dynamic model.- An alternative way of representing the multi-link manipulator, which is based on the exponential matrices for the kinematic and dynamic model.I had carried out analysis of manipulator ABB IRB 140. All researching was accomplished on base of this manipulator. Also compiled system description parameters, which required for mathematical model.Calculations were made using two different methods. On the basis of the results compiled two dynamic models describing the manipulator.I had done simulation and comparison the obtained characteristics based on the determined models.	cs
dc.description.abstract	In this work was accomplished a review and comparison of the methods which allows make the kinematic and dynamic models. We can distinguish two ways:- Classic and the most common way of representing a multi-link manipulator. In case of kinematic model it is algorithm Denavit-Hartenberg and the homogeneous transformation matrix, as well as the recursive method based on Newton's equations for dynamic model.- An alternative way of representing the multi-link manipulator, which is based on the exponential matrices for the kinematic and dynamic model.I had carried out analysis of manipulator ABB IRB 140. All researching was accomplished on base of this manipulator. Also compiled system description parameters, which required for mathematical model.Calculations were made using two different methods. On the basis of the results compiled two dynamic models describing the manipulator.I had done simulation and comparison the obtained characteristics based on the determined models.	en
dc.description.mark
dc.format	69 p., 36 p. illust.app.
dc.format.extent	Ilustrace, Grafy, Tabulky, Mapy 1 ROM ROM
dc.identifier.uri	https://dspace.tul.cz/handle/15240/25034
dc.language.iso	an
dc.relation.isbasedon	beginarab renewcommandlabelenumi[arabicenumi] item Siciliano B., Khatib O. (Eds.). Handbook of Robotics. Berlin, Springer-Verlag, 2008. item Angeles J. Fundamentals of Robotics Mechanical Systems. New York, Springer-Verlag, 2003. item Murray R. M., Li Z., Sastry S. S. A Mathematical Introduction to Robotic Manipulation. www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete.pdf item Canudas de Win C., Siciliany B., Bastin G.. Theory of Robot Control. Springer-Verlag, 1996. endarab
dc.rights	Vysokoškolská závěrečná práce je autorské dílo chráněné dle zákona č. 121/2000 Sb., autorský zákon, ve znění pozdějších předpisů. Je možné pořizovat z něj na své náklady a pro svoji osobní potřebu výpisy, opisy a rozmnoženiny. Jeho využití musí být v souladu s autorským zákonem https://www.mkcr.cz/assets/autorske-pravo/01-3982006.pdf a citační etikou https://knihovna.tul.cz/document/26	cs
dc.rights	A university thesis is a work protected by the Copyright Act. Extracts, copies and transcripts of the thesis are allowed for personal use only and at one?s own expense. The use of thesis should be in compliance with the Copyright Act. https://www.mkcr.cz/assets/autorske-pravo/01-3982006.pdf and the citation ethics https://knihovna.tul.cz/document/26	en
dc.rights.uri	https://knihovna.tul.cz/document/26
dc.rights.uri	https://www.mkcr.cz/assets/autorske-pravo/01-3982006.pdf
dc.subject	Robot	cs
dc.subject	Dynamics	cs
dc.subject	Control	cs
dc.subject	Kinematics	cs
dc.subject	Models	cs
dc.subject	Denavit-Hartenberg	cs
dc.subject	Newton-Euler	cs
dc.subject	Lagrange-Euler	cs
dc.subject	Exponential Marices	cs
dc.subject	Robot	en
dc.subject	Dynamics	en
dc.subject	Control	en
dc.subject	Kinematics	en
dc.subject	Models	en
dc.subject	Denavit-Hartenberg	en
dc.subject	Newton-Euler	en
dc.subject	Lagrange-Euler	en
dc.subject	Exponential Marices	en
dc.subject.verbis	robots	en
dc.title	Dynamika robotů a jejich řízení pomocí exponenciálních matic	cs
dc.title	Robot Dynamics and Control Based on Exponential Matrices	en
dc.title.alternative		cs
dc.type	diplomová práce	cs
local.degree.discipline	MEA
local.degree.programme	Electrical Engineering and Informatics
local.degree.programmeabbreviation	N2612
local.department.abbreviation	MTI
local.faculty	Fakulta mechatroniky, informatiky a mezioborových studií	cs
local.faculty.abbreviation	FM
local.identifier.stag	31169
local.identifier.verbis	485604
local.note.administrators	automat
local.verbis.aktualizace	2019-10-05 06:19:57	cs
local.verbis.studijniprogram	MTI Electrical Engineering and Informatics/Mechatronics	cs

Dynamika robotů a jejich řízení pomocí exponenciálních matic

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