This article presents the collision-free manipulation of a robotic arm mounted to a mobile robotic unit, using the MS Windows Kinect 3D optical camera system. The 3D optical system is used to recognize objects, aiding the collision-free manipulation of the said objects with the arm of a mobile robotic system (MRS). The placement of the optical system directly on the robotic arm is essential to ensure the autonomy of the overall system. The MRS is able to recognize pre-defined objects in three dimensional space and approach and manipulate these automatically using its robotic arm. The aim of this article is to present the algorithms used in the mobile robot to guarantee the collision-free manipulation of the MRS with objects. The novelty of our approach lies in the a priori collision avoidance strategy, instead of solving collision states as they occur. In addition to this, the article presents the localization of objects in space. For this, randomly placed balls are localized by the MRS, estimating their real coordinates. Instead of using the standard RGB colorspace, we propose to utilize the HSV colorspace to assess object coordinates, since it provides more consistent results in case the ambient lightning intensity varies.

The paper deals with the design and construction of a universal robotic vehicle prototype, used for laboratory and educational purposes. The main goal is its use as a technology demonstrator for the needs of students, therefore it is equipped with several kinds of sensors and universal advanced control technologies and design solutions. Its basis is a control system and construction concept using mobile battery gear and omnidirectional Mecanum wheels. A manipulating arm and advanced tracking and spatial navigation systems are also components of the design. Since the problem of a customized design and construction of such a robotic vehicle is very complex and solved in various scientific fields, in this paper we will mainly focus on the detailed description of the control systems and subsystems of the vehicle. AbstraktPríspevok sa zaoberá návrhom a stavbou prototypu univerzálneho robotického vozidla, slúžiacieho pre laboratórne a študijné účely. Účelom je jeho využitie ako technologického demonštrátora pre potreby študentov, z tohto dôvodu je osadený univerzálne všetkými dostupnými druhmi snímačov a univerzálnymi pokrokovými riadiacimi technológiami a konštrukčnými riešeniami. Základom je jeho riadiaci system a konštrukčné prevedenie s batérióvym pohonom pre všesmerové Mecanum kolesá. Súčasťou konštrukcie je aj manipulačné rameno a pokrokové systémy lokalizácie a navigácie v priestore. Nakoľko problematika vlastného návrhu a stavby takéhoto mechatronického robotického vozidla je veľmi obsiahla a riešená v rôznym vedných oblastiach, budeme sa v tomto príspevku konkrétne venovať jeho riadiacim systémom a podsystémom, ktoré si podrobnejšie rozpíšeme.

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Mobile robotic systems are mechatronic devices that are currently becoming more and more complex. To design such a system, a combination of expertise from the fields of mechanical, electrical and computer engineering is required. This paper describes our custom omni-directional robotic platform designed for both indoor and outdoor use that contains a lot of prototypic hardware. All the designed components are interesting as they permit control of the robot as a complex mechatronic system. The main objective here was to use a larger amount of smaller control subsystems, rather than a central one. This is more advantageous from the control point of view. The electronics of the robot consists of microcontroller controlled distributed subsystems that are able to communicate with the master system. The following sections offer an insight into the control structures of the mobile robot.

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