. "326720" . . "ethernet powerlink, motion control" . . . . . . "RIV/68407700:21230/09:00161995!RIV10-MSM-21230___" . . "JUGGLER_09" . "Model synchronizovan\u00FDch servopohon\u016F (\u017Eongl\u00E9r)" . "21230" . . . . . "P(2C06010)" . "Model synchronizovan\u00FDch servopohon\u016F (\u017Eongl\u00E9r)" . "Kirchmann, Bohuslav" . "Model of synchronised servodrives (juggler)"@en . . . . . "Model synchronizovan\u00FDch servopohon\u016F (\u017Eongl\u00E9r)"@cs . . "4"^^ . "motion control; isochronous communication; Kalman filter; image recognition"@en . . "The Juggler model has been enhanced with third vertical axis and a bottom container of the balls. Due to such enhancements it is possible to get 3 balls in circulation, being thrown by to ball holders. A high-speed camera watches the ball movements and detects balls, which fall down. Such balls can be thrown back into circulation. The Juggler mechanics has been identified and the movement trajectories of the individual axes has been optimised in order for the energy to be used efficiently. Kalman filter is used to predict the trajectory of individual balls and other mechanical parts. The filter gets data from the camera image recognition software. The Juggler has been on the 9. - 10. place from 27 projects in the European Industrial Ethernet Award."@en . "200 000" . "katedra \u0159\u00EDdic\u00ED techniky" . . . . "7"^^ . . "Model \u017Eongl\u00E9r byl roz\u0161\u00ED\u0159en o t\u0159et\u00ED vertik\u00E1ln\u00ED osu a spodn\u00ED z\u00E1sobn\u00EDk kule\u010Dn\u00EDkov\u00FDch koul\u00ED. D\u00EDky tomu je mo\u017En\u00E9 dostat do ob\u011Bhu 3 koule, kter\u00E9 jsou p\u0159ehazov\u00E1ny mezi dv\u011Bma pohybliv\u00FDmi dr\u017E\u00E1ky. Byla p\u0159ipojena rychl\u00E1 kamera, kter\u00E1 sleduje pohyb koul\u00ED a detekuje koule, kter\u00E9 spadnou na zem, aby je bylo mo\u017En\u00E9 n\u00E1sledn\u011B vr\u00E1tit do ob\u011Bhu. V r\u00E1mci posledn\u00EDho obdob\u00ED byla provedena identifikace modelu a optimalizov\u00E1ny trajektorie jednotliv\u00FDch os, aby se co nejl\u00E9pe vyu\u017E\u00EDvala energie dod\u00E1van\u00E1 p\u0159\u00EDslu\u0161n\u00FDmi servozesilova\u010Di. Byl vytvo\u0159en teplotn\u00ED model jednotliv\u00FDch motor\u016F, d\u00EDky \u010Demu\u017E lze p\u0159edv\u00EDdat okam\u017Eik p\u0159\u00EDli\u0161n\u00E9ho zv\u00FD\u0161en\u00ED teploty, nebo\u0165 pohony svisl\u00FDch os jsou zat\u011B\u017Eov\u00E1ny nad nomin\u00E1ln\u00ED hodnotou. Byl vytvo\u0159en Kalman\u016Fv filtr, kter\u00FD se pou\u017E\u00EDv\u00E1 k predikci polohy jednotliv\u00FDch koul\u00ED na z\u00E1klad\u011B \u00FAdaj\u016F z\u00EDskan\u00FDch z kamery a algoritmu rozpozn\u00E1vaj\u00EDc\u00EDho jednotliv\u00E9 koule. V sout\u011B\u017Ei EIEA 2009 se tento v\u00FDsledek um\u00EDstil na 9 - 10 m\u00EDst\u011B z 27 p\u0159ihl\u00E1\u0161en\u00FDch projekt\u016F z cel\u00E9 Evropy." . "Model synchronizovan\u00FDch servopohon\u016F (\u017Eongl\u00E9r)"@cs . "RIV/68407700:21230/09:00161995" . . "Model \u017Eongl\u00E9r byl roz\u0161\u00ED\u0159en o t\u0159et\u00ED vertik\u00E1ln\u00ED osu a spodn\u00ED z\u00E1sobn\u00EDk kule\u010Dn\u00EDkov\u00FDch koul\u00ED. D\u00EDky tomu je mo\u017En\u00E9 dostat do ob\u011Bhu 3 koule, kter\u00E9 jsou p\u0159ehazov\u00E1ny mezi dv\u011Bma pohybliv\u00FDmi dr\u017E\u00E1ky. Byla p\u0159ipojena rychl\u00E1 kamera, kter\u00E1 sleduje pohyb koul\u00ED a detekuje koule, kter\u00E9 spadnou na zem, aby je bylo mo\u017En\u00E9 n\u00E1sledn\u011B vr\u00E1tit do ob\u011Bhu. V r\u00E1mci posledn\u00EDho obdob\u00ED byla provedena identifikace modelu a optimalizov\u00E1ny trajektorie jednotliv\u00FDch os, aby se co nejl\u00E9pe vyu\u017E\u00EDvala energie dod\u00E1van\u00E1 p\u0159\u00EDslu\u0161n\u00FDmi servozesilova\u010Di. Byl vytvo\u0159en teplotn\u00ED model jednotliv\u00FDch motor\u016F, d\u00EDky \u010Demu\u017E lze p\u0159edv\u00EDdat okam\u017Eik p\u0159\u00EDli\u0161n\u00E9ho zv\u00FD\u0161en\u00ED teploty, nebo\u0165 pohony svisl\u00FDch os jsou zat\u011B\u017Eov\u00E1ny nad nomin\u00E1ln\u00ED hodnotou. Byl vytvo\u0159en Kalman\u016Fv filtr, kter\u00FD se pou\u017E\u00EDv\u00E1 k predikci polohy jednotliv\u00FDch koul\u00ED na z\u00E1klad\u011B \u00FAdaj\u016F z\u00EDskan\u00FDch z kamery a algoritmu rozpozn\u00E1vaj\u00EDc\u00EDho jednotliv\u00E9 koule. V sout\u011B\u017Ei EIEA 2009 se tento v\u00FDsledek um\u00EDstil na 9 - 10 m\u00EDst\u011B z 27 p\u0159ihl\u00E1\u0161en\u00FDch projekt\u016F z cel\u00E9 Evropy."@cs . "Model of synchronised servodrives (juggler)"@en . "Mezera, Pavel" . "Burget, Pavel" . "Bayer, Ji\u0159\u00ED" . "[E0D4FE70F70A]" .