Budapest University of Technology and Economics, Faculty of Electrical Engineering and Informatics

    címtáras azonosítással

    vissza a tantárgylistához   nyomtatható verzió    

    Robot Control Architectures

    A tantárgy neve magyarul / Name of the subject in Hungarian: Robotirányítás rendszertechnikája

    Last updated: 2018. február 26.

    Budapest University of Technology and Economics
    Faculty of Electrical Engineering and Informatics
    Electrical Engineering M.Sc.         
    Computer Based Systems Specialization         
    Course ID Semester Assessment Credit Tantárgyfélév
    VIAUMA10 2 2/1/0/v 4  
    3. Course coordinator and department Dr. Tevesz Gábor,
    4. Instructors
    Name: Title: Department:
    Dr. Gábor Tevesz associate professor Department of Automation and Applied Informatics
    István Bézi h. associate professor Department of Automation and Applied Informatics
    István Oláh master lecturer
    Department of Automation and Applied Informatics
    5. Required knowledge
    6. Pre-requisites
    NEM ( TárgyEredmény( "BMEVIAUM255" , "jegy" , _ ) >= 2
    TárgyEredmény("BMEVIAUM255", "FELVETEL", AktualisFelev()) > 0)

    A fenti forma a Neptun sajátja, ezen technikai okokból nem változtattunk.

    A kötelező előtanulmányi rendek grafikus formában itt láthatók.

    7. Objectives, learning outcomes and obtained knowledge The aim of this course is to provide basic knowledge about robot control architectures, which represent an important field among complex automated systems. Hardware and software tools, as well as theoretical and architectural foundations are covered by the topics. The students get to know motion models of robots, robot control architectures and the main properties of robot programming languages. The topics are illustrated by two general 6-DOF robot manipulators. The field of digital control algorithms is covered as well, including theoretical basics and implementation details. The field of mobile robotics is introduced, which is the most dynamically evolving area of robotics nowadays. Sensors, methods and algorithms for localization and motion planning are presented.
    8. Synopsis

    Robot Control Basics (1 week)
    Robot as a complex example of process control. Robot generations, robot types and their applications.

    Kinematcs and Dynamics of Robot Manipulators (2 weeks)
    Kinematics of robot manipulators. Linear transformations, coordinate-transformation. Euler angles for expression of 3D orientation. Homogeneous coordinates. Forward and inverse kinematics, Denavit-Hartenberg conventions.
    Forward and inverse differential kinematics, the Jacobian of the robot, transformation of static forces and torques. Introduction to robot dynamics.
    Robot control algorithms (independent-joint control, computed-torque control, hybrid force/motion control).

    Control System Architectures for Robot Manipulators (4 weeks)
    Position, velocity and acceleration measurement. Incremental encoders, absolute encoders.
    The original and redesigned control system of the Nokia-Puma 560 robot. Bock diagrams, main functional units, communication tools.
    The Mitsubishi MELFA industrial robot family, its architecture and programming. The simulator of the MELFA robot.

    Digital control algorithms (2 weeks)
    Theory of digital control algorithms and their implementation in robots (position, velocity and torque control). Control theory basics, choosing appropriate controller algorithms for proportional and integrating processes.
    Nonlinearities: backlash, dead zone, saturation. Integrator windup and its elimination. The FOXBORO controller.
    Control tasks in robots. Current limitation, torque control, current control, velocity control, position control. Controller design (for proportional and integrating processes), implementation of digital control algorithms. Continuous and discrete-time controllers, bumpless launch.

    Robot programming languages (1 week)
    Robot programming languages. Online, offline programming, explicit programming languages. Evolution of robot programming languages, implicit programming. The ARPS language and its extension for hybrid force/motion control (HARPS).

    Mobile robots (3 weeks)
    Mobile robot types and classification. Wheeled, legged and modular robots. Holonomy.
    Sensors and methods for mobile robot navigation. Relative and absolute localization methods. Odometry (based on incremental/absolute encoders), errors and calibration. Ultrasonic localization, GPS and DGPS. Theory, accuracy and directions for improvement.
    Navigation among obstacles. The configuration space. Path planning algorithms: rapidly exploring dense trees (RDTs), cell decomposition and visibility graph methods. Reactive collision avoidance: virtual force field (VFF), vector field histogram (VFH) methods and the dynamic window approach (DWA).


    • Announcement and specification of the mobile robot building contest for the semester
    • Derivation of the forward/inverse kinematics equations for the Nokia-Puma 560 robot
    • Position and velocity measurement with incremental encoders
    • Elements of the ARPS language, robot programming examples
    • Digital controllers
    • Examples of mobile robot localization methods
    9. Method of instruction The course consists of lectures and seminars, which are alternating during the semester. The lectures mainly contain the theoretical background and case studies are presented at seminars.
    10. Assessment
    In lecture term:
    Mid-term test
    In examination period:
    Written exam
    Pre-exam:upon request

    The condition of obtaining a mid-term signature is at least passing  the in-class term test (“pass” grade). Students can sit for exam only if they have obtained a mid-term signature. The course credits are granted to those who pass the final exam. The final grade is computed as 30% of the mid-term test grade and 70% of the final exam grade.
    11. Recaps The mid-term test can be repeated once during the semester, in accordance with the Code of Studies and Exams (TVSz). A second repetition can only be allowed in justified cases, after individual negotiation.
    12. Consultations Before and after lectures or upon request if appointed with the lecturer.
    13. References, textbooks and resources

    Tevesz G., Bézi I.: Robotirányítás rendszertechnikája (Elektronikus jegyzet). BME AUT, 2017.
    Tevesz G., Szabó Z.: Mikrokontroller alapú rendszerek (Elektronikus jegyzet). BME AUT, 2017.
    J. Borenstein - H.R. Everett - L. Feng: "Where Am I?" Sensors and Methods for Mobile Robot Positioning. The University of Michigan, 1996.

    14. Required learning hours and assignment
    Contact hours 42
    Preparations for lectures 14
    Preparations for seminars
    Preparation for the mid-term test 15
    Acquiring selected written curriculum
    Preparation for the final exam
    Total 120
    15. Syllabus prepared by
    Name: Title: Department:
    Dr. Gábor Tevesz associate professor Department of Automation and Applied Informatics
    István Bézi h. associate professor Department of Automation and Applied Informatics