Robot Control Research Group

Current reseasrch interests include:

• New type of control algorithms for rigid and flexible robots
• Identification and sefltuning adaptive control of robots
• Fuzzy, neural and genetic algorithms in robot control
• Intelligent robot control based on artificial intelligence
• Control models for cooperative and mobile robots
• Sensory system for mobile robot navigation
• Intelligent robot hand/eye system
• Real-time implementation of robot control algorithms based on digital signal processors and transputers

Software development projects

• QNX based advenced robot programming system for PUMA 560 robot
• DSP based control software for PUMA 560 robot
• Control software for a nine degree of freedom intelligent robot hand
• Stereo image processing program for assembly robots and intelligent robot hands

Hardware resources

• Nokia PUMA 560 robots
• Advanced control architecture for robot control (PC, 3xDSP cards, low level current control with PWM)
• Intelligent robot hand (9 degre of freedom)
• Control architecture for robot hand (PC extension, 16 channel A/D, 12 channel D/A, power electronics)
• IBM PCs with transputer cards and MATROX graphics

Software tools

• QNX real-time operating sytem with QNX WINDOWS
• LabVIEW for WINDOWS
• Compilers (Visual C++, WATCOM C)
• Transputer developing system (OCCAM, Parallel C, Parallel Pascal)

Team leader and contact person

Members

• dr. Loványi, István, Ph.D., associate professor
• dr. Nagy, Ákos, Ph.D., associate professor
• dr. Fock, Károly, Ph.D., asssociate professor
• Csík, Gáspár, associate professor
• dr. Vajta, László, senior lecturer
• dr. Laczházi, Gyula, senior lecturer
• Ludvig, László, Ph.D. student
• Pletl, Szilveszter, Ph.D. student
• Klatsmányi, Péter, Ph.D. student
• Tél, Ferenc, Ph.D. student

Recent publications:

1. Lantos, B.: Bildverarbeitung für die Regelung von Robotern. Forschungsbericht, Forschungszentrum Informatik Karlsruhe, Karlsruhe, 1987, p. 1-186.
2. Lantos, B.: Robot control (in Hungarian). Akadémiai Kiadó, Budapest, 1991.
3. Lantos, B.: Simulation environment for robot control design. Proceedings of the IFAC/IFIC/IMACS Symposium on Robot Control SYROCO'91, Vienna, 1991, Pergamon Press, Vol. 2, p. 417-422.
4. Lantos, B. - Csala, P.: Convergence test of selftuning adaptive control. Preprints of the Automation '92 International Conference, Budapest, 1992,Vo. 2., p. 402-413.
5. Lantos, B.: Convergence test of selftuning adaptive control for SCARA and PUMA robots. Proceedings of the 23rd International Symposium on Industrial Robots, Barcelona, 1992, p. 213- 219.
6. Lantos, B.: Identification and adaptive control of robots,. Int. Journal Mechatronics, Vol. 3., No. 2. 1993, p. 149-166.
7. Lantos, B.: New principles and methods in the control and identification of robots (in Hungarian). D.Sc. Thesis. MTA Budapest, 1993, p. 1-190.
8. Lantos, B.: Identification and adaptive control of robots. Proceedings of the Joint Hungarian-British International Mechatronics Conference, Budapest, 1994, p. 663-673.
9. Lantos, B.: Identifikation und adaptive Regelung von Robotern. Proc. 39. Internationes Wissenschaftliches Kolloquium, Ilmenau, 1994, Vol. 3, p. 830-837.
10. Lantos, B.: Dynamic model identification and adaptive control of robots. Proceedings of the 8th Symposium on Microcomputer and Microprocessor Applications *P'94, Budapest, 1994, Vol. 2, p. 407-416.
11. Lantos, B. - Pletl, Sz.: Comparison of adaptive and neural network based algorithms for robot Control. Preprints of the Automation'95 International Conference, Budapest, 1995, Vol. 2, p. 413-421.
12. Ludvig, L.: Analysis of human hand and grasping. Preprints of IFAC Workshop on Human Oriented Design of Advanced Robotic Systems, Vienna, 1995, p. 49-54.
13. Ludvig, L.: Tactile sensing of the TUB-PC dextrous hand. Preprints of the 1st ECPD Conference on Advanced Robotics and Intelligent Automation, Athens, 1995, p. 356-361.
14. Loványi, I. - Nagy, A., Prat, R.- Monchaud, S. - Metchev, V.: Integration of intelligent multisensory elements into the CIM-class of INSA Rennes. Proc. Joint Hungarian-British Mechatronics Conference, Budapest, 1994, p. 83-90.