Bp 149 en

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Robot HERO - basic control

Author: Jiří Zemánek

Bakalářské práce 2007

Download thesis in PDF

This work presents the historic and current state of the mobile robot HERO and evaluates the usability of the extant electronical and mechanical parts. It sets down a concept of the robot, which will be able to operate autonomously in an unknown environment and will be provided with the possibility of wireless connection to a computer system. The concep includes a design of a control system structure and equipping it with particular systems, ensuring the functions of the robot. The work introduces a design of a power supply system including protections, choice and instalment of new drives for the robot. It also describes all mechanical modifcations made on the robot. A list of characteristics and possibilities of particular operating subsystems, which are installed on the robot, are also covered. Finally, the work deals with identifcation of a dynamic model of the robot and setting of the regulators.

Bp 2007 zemanek jiri.pdf