{"id":24193,"date":"2024-09-24T15:17:54","date_gmt":"2024-09-24T13:17:54","guid":{"rendered":"https:\/\/www.itspy.cz\/thesis\/adaptivne-riadenie-kroku-stvornoheho-robota\/"},"modified":"2024-09-24T15:17:54","modified_gmt":"2024-09-24T13:17:54","slug":"adaptivne-riadenie-kroku-stvornoheho-robota","status":"publish","type":"thesis","link":"https:\/\/www.itspy.cz\/sk\/thesis\/adaptivne-riadenie-kroku-stvornoheho-robota\/","title":{"rendered":"Adapt\u00edvne riadenie kroku \u0161tvornoh\u00e9ho robota"},"content":{"rendered":"<p>Diplomov\u00e1 pr\u00e1ca sa venuje adapt\u00edvnemu riadeniu \u0161tvornoh\u00e9ho<br \/>\nrobota Artaban, bola vypracovan\u00e1 v spolupr\u00e1ci s firmou<br \/>\nPanza Robotics, s.r.o., a z\u00edskala 1. miesto na SVO\u010c 2024 v<br \/>\nOlomouci; nadviazala na bakal\u00e1rsku pr\u00e1cu, ktor\u00e1 z\u00edskala 1.<br \/>\nmiesto na SVO\u010c 2023 v Liberci.<br \/>\nPotreba adapt\u00edvneho riadenia vznik\u00e1 so zvy\u0161uj\u00facou sa<br \/>\nauton\u00f3miou robotov. \u0160tvornoh\u00fd robot sa mus\u00ed pri pohybe<br \/>\nvedie\u0165 prisp\u00f4sobi\u0165 prostrediu, napr\u00edklad nerovnostiam<br \/>\nter\u00e9nu a neo\u010dak\u00e1van\u00fdm postr\u010deniam. Tu vznik\u00e1 potreba<br \/>\nneust\u00e1le prepo\u010d\u00edtava\u0165 pohyb a trasu robota na z\u00e1klade<br \/>\naktu\u00e1lnych \u00fadajov zo senzorov.<br \/>\nPre riadenie robota je nevyhnutn\u00e9 pozna\u0165 kinematiku robota,<br \/>\nteda polohu n\u00f4h robota vzh\u013eadom na nato\u010denie motorov, a<br \/>\nvedie\u0165 prepo\u010d\u00edta\u0165 sily p\u00f4sobiace na nohy na kr\u00fatiace<br \/>\nmomenty motorov. Nezanedbate\u013en\u00e1 je aj dynamika cel\u00e9ho<br \/>\nsyst\u00e9mu robota.<br \/>\nPo odvoden\u00ed potrebn\u00fdch rovn\u00edc nasledovalo vyladenie<br \/>\nparametrov ch\u00f4dze v<br \/>\nsimul\u00e1cii, napr\u00edklad d\u013a\u017eky a v\u00fd\u0161ky kroku, a nakoniec<br \/>\ntestovanie riadenia na hardv\u00e9ri. Robot je nielen schopn\u00fd<br \/>\nch\u00f4dze v\u0161etk\u00fdmi smermi, ale udr\u017e\u00ed stabilitu aj pri<br \/>\nne\u010dakanom postr\u010den\u00ed.<\/p>\n","protected":false},"featured_media":23632,"template":"","meta":{"_acf_changed":false,"_links_to":"","_links_to_target":""},"university":[296,174],"thesis-year":[391,407],"class_list":["post-24193","thesis","type-thesis","status-publish","has-post-thumbnail","hentry","thesis-year-391","thesis-year-2024-sk"],"acf":{"autor":"Zuzana Ma\u010dicov\u00e1","portret":"","vedouci":"prof. RNDr. Roman \u010eurikovi\u010d, PhD."},"_links":{"self":[{"href":"https:\/\/www.itspy.cz\/sk\/wp-json\/wp\/v2\/thesis\/24193","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.itspy.cz\/sk\/wp-json\/wp\/v2\/thesis"}],"about":[{"href":"https:\/\/www.itspy.cz\/sk\/wp-json\/wp\/v2\/types\/thesis"}],"version-history":[{"count":0,"href":"https:\/\/www.itspy.cz\/sk\/wp-json\/wp\/v2\/thesis\/24193\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.itspy.cz\/sk\/wp-json\/wp\/v2\/media\/23632"}],"wp:attachment":[{"href":"https:\/\/www.itspy.cz\/sk\/wp-json\/wp\/v2\/media?parent=24193"}],"wp:term":[{"taxonomy":"university","embeddable":true,"href":"https:\/\/www.itspy.cz\/sk\/wp-json\/wp\/v2\/university?post=24193"},{"taxonomy":"thesis-year","embeddable":true,"href":"https:\/\/www.itspy.cz\/sk\/wp-json\/wp\/v2\/thesis-year?post=24193"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}