Zdenko Bobovský

Snake Robot Movement in the Pipe Using Concertina Locomotion

Inspection tasks of pipes or channels are part of the engineering practice. In the past there were investigated conventional approaches like wheeled-based mechanisms. This paper deals with unconventional approach - snake robot moving in the pipe. In the paper locomotion pattern of concertina is introduced and subsequently kinematic model of concertina locomotion is established. Main requirements and conditions of presented locomotion pattern are stated. Using software Matlab the kinematic model is simulated according designed locomotion pattern in order to verify the kinematic model. For experimental purposes the experimental snake robot – LocoSnake is used. Simulation and experiment are compared and evaluated.

Kinematics of Self-Reconfigurable Robotic System

Kinematics of Self-Reconfigurable Robotic System Theory of mechanisms with variable structure in robotic applications self-reconfigurable structures is one of the directions of development of robotics. On our faculty is developed self-reconfigurable modular robotic system capable of rebuilding a structure according to the requirements of the current task. To perform kinematic changes of its structure we needs to have information on where to find the modules and their submodules. Therefore it is necessary to know the mathematical relationship between the positions of its individual parts. Spatial kinematic chains is investigated based on the theory of simultaneous movements, where the position of each member is specified in the global coordinate system using local coordinate systems associated with individual members. To identify the position of the individual local coordinate systems were used transformation matrix, the accuracy of which is verified in mathematical programs and results from these programs are then compared with results of movement analysis notified by simulation procedures.

Didactic Models Used on Mechatronic Courses

The paper deals with one-chip controller Basic Atom, which is often used as control unit in mechatronics systems designed via students. Students can use our building units for training of control subsystem developing for mechatronic products. Also several theses have been done on this topic. Mechatronic systems and robots from these theses are available for other students as training models for practical exercises.

The Influence of Shape for Self-Reconfigured Modular Robotic System Characteristics

The Influence of Shape for Self-Reconfigured Modular Robotic System Characteristics The theory of mechanisms with a variable structure into the application form of the metamorphous self-reconfigurable structure of robots has been recently developed as a possible direction of an innovative approach to robotic technology. In our faculty, we decide to create module for such robotic system. The result is a unique MMR metamorphous robotic system on the basis of an autonomous MG module which is able to act as a homogenous module, however, at the same time it consists of heterogeneous sub-modules which enable the module to cooperate with other modules and thus create and be transformed into various kinematics structures of robotic system, as may be necessary. Furthermore, the module is able to work as a separate module and to transform its kinematics structure as requested.

Kinect v2 infrared images correction

This article presents a novel correction filter for infrared images captured by Kinect v2 sensor. Intended application areas are described and the basic concept of proposed sensory subsystem as well. Preliminary tests of the sensor Kinect v2 in real conditions gave promising results, therefore in-depth analysis of its applicability was performed. In the framework of the analysis, a relation between infrared value and a distance of captured surface was evaluated for different colors of the surface. Based on that relation and on additional information about the depth of a pixel, a correction filter was created. The filter allows improving infrared image in order to increase the success rate probability to be able to detect specific features and key points by algorithms more easily. Outputs from the filter on real conditions data sets are also presented in the article.

The synthesis of a segmented stair-climbing wheel

The article describes the process of development of an essentially new wheel suitable both for moving on flat ground and for travelling on stairs. The stair-climbing wheel is composed of rotary circular segments arranged around a shared carrier with arms to form a complete circular profile of the wheel adapted for moving on flat ground; for travelling on stairs, individual segments are rotated by an appropriate angle to touch down tangentially on the stepping surface of the stairs. The dimensions of individual segments, the centre of rotation of individual segments and the angle of their partial turn have been chosen so that the length of the arc along which the circular segment rolls is equal to the length of the stepping surface of an average stair, and, at the same time, the circular segment touches down tangentially on the stepping surface while the wheel turns around the edge of the previous segment. Using the rotation angle of the turnable segments, the wheel can be adapted to the height of non-standard stairs. The segments can be inclined in both directions for bidirectional movement of the wheel up and down the stairs. An undercarriage equipped with these wheels can be used in the field of exploratory robots and for the transportation of persons and materials on stairs.

Mobile Robot Failure Prevention by Real-Time Thermal Monitoring

The paper deals with improving the reliability of mechanical components of the mobile robot Telerescuer. This improvement is realised by monitoring thermal parameters of some selected critical points of gearboxes and drives using the principles of IoT (Internet of Things) and by transferring all measured values to the ThinksWorx servers. On-line monitoring of the locomotion subsystem with prediction and prevention of a possible mechanical failure is secured by analyses of the data. The data is also used for visualisation directly on the operator station at a model of the robot in a 3D CAD system.

Teleoperated humanoid robot

Clanek popisuje technicke řeseni teleoperacně řizeneho humanoidniho robotickeho systemu. K ziskavani udajů o poloze těla operatoru je použivan senzor Kinect. V clanku jsou popsany matematicke rovnice použite pro transformaci dat ze senzoru Kinect do pozic jednotlivých servomotoru robotu. V clanku je take popsana struktura softwaroveho a elektronickeho zařizeni obou casti systemu: robotu a PC operatora. Vsechna softwarova řeseni jsou vyvinuta s použitim programovaciho jazyka C#. Pro dynamicke simulace systemu byl vytvořen podrobný model robotu ve V-Rep, simulace ziskava stejna data jako skutecný robot.

Special Wheels for Overcoming Stairs

The article focuses on verification of function of two proposed conceptions of special wheels that allow driving of a chassis on staircases without oscillation of the chassis centre of mass in relation to a line parallel to the flight of steps. Basic principles of the special wheels conceptions are briefly described in the beginning. Verification of function was done by simulation in the CAD system SolidWorks and also were performed tests on reduced-scale prototypes of chasses with the special wheels. The article contains comparison of results obtained from simulations and from testing on prototypes. The last part discusses the results and possible directions of evolution of mobile robotic systems designed for movement on stairs.

Connecting System for Quick Replacement of Mechatronic SCHUNK Power Cube Modules for Mobile Robotic Systems

The article describes the synthesis of the connecting system for mechatronic modules SCHUNK PowerCube PR70, PR90 and PW90. Emphasis is placed on enabling the quick reconfiguration of the kinematic structure of the manipulator for a mobile robotic system built from these modules. The article describes the process of synthesis of mechanic components of the system, hardware and software ensuring the necessary functions for the realization of connections, detection of orientation of the connected module, securing the flow of energy and data signals and the appropriate response in the control application of the system. This is substantiated by evaluating tests realized on produced prototypes of connecting systems. The article also describes a future outlook for further developments of the connecting system.