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

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    Robotic Systems Laboratory

    A tantárgy neve magyarul / Name of the subject in Hungarian: Robotrendszerek laboratórium

    Last updated: 2024. április 18.

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

    MSc in Electical Engineering

    Robotics Secondary Specialization 
    Course ID Semester Assessment Credit Tantárgyfélév
    VIIIMB08   0/0/3/f 4  
    3. Course coordinator and department Gincsainé Dr. Szádeczky-Kardoss Emese,
    4. Instructors

    Dr. (Ms) Emese Gincsai-Szádeczky-Kardoss (associate professor)

    Dr. habil. (Mr) István Harmati (associate professor)

    Dr. (Mr) Zoltán Gyenes (assostant professor)

    Dr. (Mr) Bálint Kiss (associate professor) 

    5. Required knowledge Modeling and control of robot systems, navigation sensors, sensor fusion methods, control of multi-agent systems
    6. Pre-requisites
    Ajánlott:
    Robotic Manipulators and Mobile Robots 
    7. Objectives, learning outcomes and obtained knowledge
    The course aims to allow students to gain proficiency in the practical application of the theoretical knowledge acquired in robotics, trajectory planning, navigation, and multi-agent systems, as well as to learn about the modern hardware and software tools used in research and development work in these fields.  

    Students who complete the course will have practical knowledge and skills in using industrial robotic arms, control, trajectory planning and navigation of mobile platforms and can effectively use the development environments available to solve tasks.  
    8. Synopsis
    During the semester, students solve ten independent measurement tasks in the department's laboratories in small measuring groups. The topics of the ten measurement sessions are as follows: 
    1. Solving the inverse geometry problem of a two-degree-of-freedom robot arm and implementing position control on each axis.
    2. Determination of the Denavit-Hartenberg parameters of a six-degree-of-freedom industrial robot arm, solving its inverse kinematics problem in the (Simulink) Simscape environment.
    3. Solving a robot programming task with a six-degree-of-freedom industrial robot arm.
    4. Controlling a mobile robot: solving an odometric task, determining orientation with a Kalman filter, and realizing simple obstacle avoidance methods. 
    5. Signal processing for navigation purposes. Determination of position and orientation based on IMU and GPS measurements with Kalman filter.
    6. Motion planning of a mobile robot using Matlab Navigation Toolbox.
    7. Robot system control with ROS support.
    8. Collision-free trajectory planning of multi-agent robot systems.
    9. Formation control in simulation.
    10. Study of multi-agent robot systems.
    9. Method of instruction The course is organized in the form of ten one-hundred-eighty-minute-long laboratory sessions in small measuring groups of at most four students, with the support of a supervisor. The schedule of the sessions is published at the beginning of the semester. Students are expected to carefully read the syllabi assigned to each session. Measurement sessions start with an entry quiz. In case of a failed quiz, the student may be excluded from the measurement session.
    10. Assessment
    During the period of classes:  The condition for obtaining the credit is the successful completion of all (ten) measurement sessions (at least with pass). The condition for participation in the measurements is to pass the entry quiz. Completion of a measurement session requires active participation and the (electronic) submission of a measurement report by the deadline. Each measurement is graded on a scale of five. The midsemester mark is calculated as the rounded average of the grades received for the sessions.  

    During the exam period:  none
    11. Recaps A student can retake up to two missed or unsuccessful measurement sessions. A missed or unsuccessful measurement session can be repeated only once. The schedule of the retake is determined by the measurement session instructor, preferably during the time slot available in the schedule given at the beginning of the semester.
    12. Consultations Consultation is available upon request addressed to the measurement session instructors. 
    13. References, textbooks and resources Measurement syllabi are published on the course webpage.
    14. Required learning hours and assignment
    Contact hours42
    Preparation for measurement sessions42
    Study of designated written course material36
    Total120
    15. Syllabus prepared by

    Dr. (Ms) Emese Gincsai-Szádeczky-Kardoss (associate professor)

    Dr. habil. (Mr) István Harmati (associate professor)