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Robot Control Architectures

Robotirányítás rendszertechnikája
A tantárgyleírás hatályossága
Hatályosság kezdete:
2026. March 21.
Hatályosság vége:
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Subject name (Hungarian, English)
Robotirányítás rendszertechnikája
Robot Control Architectures
Subject code BMEVIAUMA10
Subject type —
Training Level —
Course types and hours (weekly/semester)
Course type lecture tutorial laboratory
hours (weekly) 2 1 0
type (linked/independent) — derived course —
Assessment type vizsga
Credits 4
Subject coordinator
Dr. Tevesz Gábor
position: egyetemi docens
Responsible department
Automatizálási és Alkalmazott Informatikai Tanszék
https://www.aut.bme.hu
Faculty Villamosmérnöki és Informatikai Kar
Subject website —
Primary curriculum type —
Direct prerequisites – Strong prerequisite none
Direct prerequisites – Weak prerequisite none
Direct prerequisites – Parallel prerequisite none
Direct prerequisites – Milestone prerequisite none
Direct prerequisites – Exclusion none

Objectives

Programme

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).

Seminars:

  • 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
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.

Learning outcomes

Ez a tantárgy a KKK rendeletben meghatározott, következő kompetenciák fejlesztését szolgálja:

Knowledge

No learning outcomes recorded.

Skills

No learning outcomes recorded.

Attitudes

No learning outcomes recorded.

Autonomy and responsibility

No learning outcomes recorded.

Oktatási módszertan

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.

Tanulástámogató anyagok

Online források
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.

Recommended preliminary knowledge for completing the subject

Knowledge type competencies
(azon előzetes ismeretek összessége, amelyek megléte nem kötelező, de a tantárgy eredményes teljesítését nagyban elősegíti)
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Skill type competencies
(azon előzetes képességek és készségek összessége, amelyek megléte nem kötelező, de a tantárgy eredményes teljesítését nagyban elősegíti)
nincs
Recommended (non-compulsory) preliminary competencies
(azon ajánlott (nem kötelező) előzetesen megszerzendő kompetenciák összessége, amelyek jelentősen hozzájárulnak a tantárgy eredményes teljesítéséhez)
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General rules
Requirements: 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. Additional possibilities: 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.
Assessment methods
In-term assessments

No detailed assessments provided.

Weight of in-term assessments

No weights provided.

Exam-period assessments

No detailed assessments provided.

Weight of exam elements

No weights provided.

Grade calculation

No grade thresholds provided.

Attendance requirements

No attendance requirements provided.

Rules for retake and resubmission

Not provided.

Short description

Not provided.

Detailed description

Not provided.

Recommended courses
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Workload to complete the subject

No workload breakdown provided.

Validity of subject requirements
Requirements valid from:
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Requirements valid until:
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Curriculum placement

No curriculum placements recorded for this subject version.