Kvrgić, V., Ribić, A., Dimić, Z., Živanović, S.,& Dodevska, Z.. (2022). Ekvivalentne geometrijske greške obrtnih osa i novi algoritam kompenzacije geometrijskih grešaka neortogonalnoh petoosnih mašina alatki – GECOMP. in Tehničko rešenje je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver kao M85 – Novo tehničko rešenje (nije komercijalizovano), 2022.
Institut Mihajlo Pupin, Univerzitet u Beogradu., 1-54.
https://hdl.handle.net/21.15107/rcub_machinery_7726

Kvrgić V, Ribić A, Dimić Z, Živanović S, Dodevska Z. Ekvivalentne geometrijske greške obrtnih osa i novi algoritam kompenzacije geometrijskih grešaka neortogonalnoh petoosnih mašina alatki – GECOMP. in Tehničko rešenje je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver kao M85 – Novo tehničko rešenje (nije komercijalizovano), 2022.. 2022;:1-54.
https://hdl.handle.net/21.15107/rcub_machinery_7726 .

Kvrgić, Vladimir, Ribić, Aleksandar, Dimić, Zoran, Živanović, Saša, Dodevska, Zorica, "Ekvivalentne geometrijske greške obrtnih osa i novi algoritam kompenzacije geometrijskih grešaka neortogonalnoh petoosnih mašina alatki – GECOMP" in Tehničko rešenje je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver kao M85 – Novo tehničko rešenje (nije komercijalizovano), 2022. (2022):1-54,
https://hdl.handle.net/21.15107/rcub_machinery_7726 .

TY  - JOUR
AU  - Kvrgić, Vladimir
AU  - Ribić, Aleksandar, I
AU  - Dimić, Zoran
AU  - Živanović, Saša
AU  - Dodevska, Zorica A.
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3722
AB  - The indirect identification of the geometric errors (GEs) in the rotary axis of a machine tool yields six equivalent GEs (EGEs) that are position-dependent; through an analytical proof, this study demonstrates that these errors also represent four position-independent GEs of the axis. Moreover, a novel algorithm using ball bar measurements to calculate the EGEs of a nutating rotary B-axis and a rotary C-axis is presented herein. This paper also presents a new analytical solution for the actual inverse kinematics of a nonorthogonal five-axis machine tool; this solution is used for GE compensation. The presented algorithms are implemented in a self-developed software that alters the nominal numerical control code in order to eliminate GEs. The compensation accuracy and efficiency are tested using a simulation system. The results demonstrate that the proposed compensation algorithm eliminates all identified GEs. Lastly, a cutting test executed on a machine confirms that the proposed algorithms considerably improve machining accuracy.
PB  - Elsevier, Amsterdam
T2  - CIRP Journal of Manufacturing Science and Technology
T1  - Equivalent geometric errors of rotary axes and novel algorithm for geometric errors compensation in a nonorthogonal five-axis machine tool
EP  - 488
SP  - 477
VL  - 37
DO  - 10.1016/j.cirpj.2022.03.001
ER  - 

@article{
author = "Kvrgić, Vladimir and Ribić, Aleksandar, I and Dimić, Zoran and Živanović, Saša and Dodevska, Zorica A.",
year = "2022",
abstract = "The indirect identification of the geometric errors (GEs) in the rotary axis of a machine tool yields six equivalent GEs (EGEs) that are position-dependent; through an analytical proof, this study demonstrates that these errors also represent four position-independent GEs of the axis. Moreover, a novel algorithm using ball bar measurements to calculate the EGEs of a nutating rotary B-axis and a rotary C-axis is presented herein. This paper also presents a new analytical solution for the actual inverse kinematics of a nonorthogonal five-axis machine tool; this solution is used for GE compensation. The presented algorithms are implemented in a self-developed software that alters the nominal numerical control code in order to eliminate GEs. The compensation accuracy and efficiency are tested using a simulation system. The results demonstrate that the proposed compensation algorithm eliminates all identified GEs. Lastly, a cutting test executed on a machine confirms that the proposed algorithms considerably improve machining accuracy.",
publisher = "Elsevier, Amsterdam",
journal = "CIRP Journal of Manufacturing Science and Technology",
title = "Equivalent geometric errors of rotary axes and novel algorithm for geometric errors compensation in a nonorthogonal five-axis machine tool",
pages = "488-477",
volume = "37",
doi = "10.1016/j.cirpj.2022.03.001"
}

Kvrgić, V., Ribić, A. I., Dimić, Z., Živanović, S.,& Dodevska, Z. A.. (2022). Equivalent geometric errors of rotary axes and novel algorithm for geometric errors compensation in a nonorthogonal five-axis machine tool. in CIRP Journal of Manufacturing Science and Technology
Elsevier, Amsterdam., 37, 477-488.
https://doi.org/10.1016/j.cirpj.2022.03.001

Kvrgić V, Ribić AI, Dimić Z, Živanović S, Dodevska ZA. Equivalent geometric errors of rotary axes and novel algorithm for geometric errors compensation in a nonorthogonal five-axis machine tool. in CIRP Journal of Manufacturing Science and Technology. 2022;37:477-488.
doi:10.1016/j.cirpj.2022.03.001 .

Kvrgić, Vladimir, Ribić, Aleksandar, I, Dimić, Zoran, Živanović, Saša, Dodevska, Zorica A., "Equivalent geometric errors of rotary axes and novel algorithm for geometric errors compensation in a nonorthogonal five-axis machine tool" in CIRP Journal of Manufacturing Science and Technology, 37 (2022):477-488,
https://doi.org/10.1016/j.cirpj.2022.03.001 . .

TY  - JOUR
AU  - Vidaković, Jelena
AU  - Lazarević, Mihailo
AU  - Kvrgić, Vladimir
AU  - Vasovic Maksimović, Ivana
AU  - Rakić, Aleksandar
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3602
AB  - Safe and efficient training using flight simulation training devices (FSTD) is one of the fundamental components of training in the commercial, military, and general aviation. When compared with the live training, the most significant benefits of ground trainers include improved safety and the reduced cost of a pilot training process. Flight simulation is a multidisciplinary subject that relies on several research disciplines which have a tendency to be investigated separately and in parallel with each other. This paper presents a comprehensive overview of the research within the FSTD domain with a motivation to highlight contributions from separate research topics from a general aspect, which is necessary as FSTD is a complex man-machine system. Application areas of FSTD usage are addressed, and the terminology used in the literature is discussed. Identification, classification, and overview of major research fields in the FSTD domain are presented. Specific characteristics of FSTD for fighter aircraft are discussed separately.
PB  - Springer, New York
T2  - International Journal of Aeronautical and Space Sciences
T1  - Flight Simulation Training Devices: Application, Classification, and Research
EP  - 885
IS  - 4
SP  - 874
VL  - 22
DO  - 10.1007/s42405-021-00358-y
ER  - 

@article{
author = "Vidaković, Jelena and Lazarević, Mihailo and Kvrgić, Vladimir and Vasovic Maksimović, Ivana and Rakić, Aleksandar",
year = "2021",
abstract = "Safe and efficient training using flight simulation training devices (FSTD) is one of the fundamental components of training in the commercial, military, and general aviation. When compared with the live training, the most significant benefits of ground trainers include improved safety and the reduced cost of a pilot training process. Flight simulation is a multidisciplinary subject that relies on several research disciplines which have a tendency to be investigated separately and in parallel with each other. This paper presents a comprehensive overview of the research within the FSTD domain with a motivation to highlight contributions from separate research topics from a general aspect, which is necessary as FSTD is a complex man-machine system. Application areas of FSTD usage are addressed, and the terminology used in the literature is discussed. Identification, classification, and overview of major research fields in the FSTD domain are presented. Specific characteristics of FSTD for fighter aircraft are discussed separately.",
publisher = "Springer, New York",
journal = "International Journal of Aeronautical and Space Sciences",
title = "Flight Simulation Training Devices: Application, Classification, and Research",
pages = "885-874",
number = "4",
volume = "22",
doi = "10.1007/s42405-021-00358-y"
}

Vidaković, J., Lazarević, M., Kvrgić, V., Vasovic Maksimović, I.,& Rakić, A.. (2021). Flight Simulation Training Devices: Application, Classification, and Research. in International Journal of Aeronautical and Space Sciences
Springer, New York., 22(4), 874-885.
https://doi.org/10.1007/s42405-021-00358-y

Vidaković J, Lazarević M, Kvrgić V, Vasovic Maksimović I, Rakić A. Flight Simulation Training Devices: Application, Classification, and Research. in International Journal of Aeronautical and Space Sciences. 2021;22(4):874-885.
doi:10.1007/s42405-021-00358-y .

Vidaković, Jelena, Lazarević, Mihailo, Kvrgić, Vladimir, Vasovic Maksimović, Ivana, Rakić, Aleksandar, "Flight Simulation Training Devices: Application, Classification, and Research" in International Journal of Aeronautical and Space Sciences, 22, no. 4 (2021):874-885,
https://doi.org/10.1007/s42405-021-00358-y . .

TY  - JOUR
AU  - Vidaković, Jelena
AU  - Kvrgić, Vladimir
AU  - Lazarević, Mihailo
AU  - Stepanić, Pavle
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3421
AB  - A development of a robot control system is a highly complex task due to nonlinear dynamic coupling between the robot links. Advanced robot control strategies often entail difficulties in implementation, and prospective benefits of their application need to be analyzed using simulation techniques. Computed torque control (CTC) is a feed-forward control method used for tracking of robot's time-varying trajectories in the presence of varying loads. For the implementation of CTC, the inverse dynamics model of the robot manipulator has to be developed. In this paper, the addition of CTC compensator to the feedback controller is considered for a Spatial disorientation trainer (SDT). This pilot training system is modeled as a 4DoF robot manipulator with revolute joints. For the designed mechanical structure, chosen actuators and considered motion of the SDT, CTC-based control system performance is compared with the traditional speed PI controller using the realistic simulation model. The simulation results, which showed significant improvement in the trajectory tracking for the designed SDT, can be used for the control system design purpose as well as within mechanical design verification.
PB  - Univerzitet u Nišu, Niš
T2  - Facta Universitatis-Series Mechanical Engineering
T1  - Computed torque control for a spatial disorientation trainer
EP  - 280
IS  - 2
SP  - 269
VL  - 18
DO  - 10.22190/FUME190919003V
ER  - 

@article{
author = "Vidaković, Jelena and Kvrgić, Vladimir and Lazarević, Mihailo and Stepanić, Pavle",
year = "2020",
abstract = "A development of a robot control system is a highly complex task due to nonlinear dynamic coupling between the robot links. Advanced robot control strategies often entail difficulties in implementation, and prospective benefits of their application need to be analyzed using simulation techniques. Computed torque control (CTC) is a feed-forward control method used for tracking of robot's time-varying trajectories in the presence of varying loads. For the implementation of CTC, the inverse dynamics model of the robot manipulator has to be developed. In this paper, the addition of CTC compensator to the feedback controller is considered for a Spatial disorientation trainer (SDT). This pilot training system is modeled as a 4DoF robot manipulator with revolute joints. For the designed mechanical structure, chosen actuators and considered motion of the SDT, CTC-based control system performance is compared with the traditional speed PI controller using the realistic simulation model. The simulation results, which showed significant improvement in the trajectory tracking for the designed SDT, can be used for the control system design purpose as well as within mechanical design verification.",
publisher = "Univerzitet u Nišu, Niš",
journal = "Facta Universitatis-Series Mechanical Engineering",
title = "Computed torque control for a spatial disorientation trainer",
pages = "280-269",
number = "2",
volume = "18",
doi = "10.22190/FUME190919003V"
}

Vidaković, J., Kvrgić, V., Lazarević, M.,& Stepanić, P.. (2020). Computed torque control for a spatial disorientation trainer. in Facta Universitatis-Series Mechanical Engineering
Univerzitet u Nišu, Niš., 18(2), 269-280.
https://doi.org/10.22190/FUME190919003V

Vidaković J, Kvrgić V, Lazarević M, Stepanić P. Computed torque control for a spatial disorientation trainer. in Facta Universitatis-Series Mechanical Engineering. 2020;18(2):269-280.
doi:10.22190/FUME190919003V .

Vidaković, Jelena, Kvrgić, Vladimir, Lazarević, Mihailo, Stepanić, Pavle, "Computed torque control for a spatial disorientation trainer" in Facta Universitatis-Series Mechanical Engineering, 18, no. 2 (2020):269-280,
https://doi.org/10.22190/FUME190919003V . .

TY  - CONF
AU  - Vidaković, Jelena
AU  - Kvrgić, Vladimir
AU  - Lazarević, Mihailo
AU  - Stepanić, Pavle
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4099
AB  - A development of a robot control system is a highly complex task, and many advanced
control strategies have been used for the purpose of overcoming nonlinear dynamic
coupling between the robot links and uncertainties in robot dynamics. Factors such as
characteristics of the mechanical design, applications for which the robot is designed,
applied actuators, and implementation requirements have great practical value to a choice
of the potential control strategy. The spatial disorientation trainer (SDT), Fig. 1, is a modern
combat aircraft pilot training system which examines a pilot's ability to recognize unusual
flight orientations, to adapt to unusual positions and to persuade the pilot to believe in the
aircraft instruments for orientation, and not in his own senses. This device is modeled as a
4DoF robot manipulator with revolute joints. Regarding a choice of a control strategy for the
SDT, given that advanced robot control strategies often entail difficulties in implementation,
prospective benefits of their application compared with traditional control approaches need
to be analyzed using proper simulation techniques. Herein, computed torque (CT) control, a
single joint feedforward control method that implies cancelation of nonlinear coupled terms
in robot dynamic model, is considered for tracking of SDT’s time‐varying trajectories. The
performance of the traditional PID controller is compared to CT compensation added to the
feedback controller in Simulink. Model of the motor’s mechanical subsystem takes into
account inertia reflected on the rotor’s shaft (effective inertia), calculated from the inverse
dynamic model of the SDT for the programmed trajectory of the device. The structure of PI
speed controller and limitation of its gains in the simulation model is performed to achieve
the fastest response without overshoots and without exciting resonances of the mechanical
structure for all possible values of effective inertia. Gains limitation of PI speed controller
takes into account the lowest structural natural frequency of the SDT device calculated using
CAE software, and saturation is applied at the outputs of controllers on the bases of
maximum torques that chosen motors can achieve. Within CT compensation, the error in
load torque calculation from the dynamic model is assumed to be 5%. The reference speed
values are given as a series of discrete values obtained from the trajectory planner.
In Fig. 2a, trajectory tracking for axes k=1, 2.. 4 using two considered types of controllers are
presented. Reference values are given in blue, the controlled process variables obtained by
PI speed controller and by CT compensation added to PI speed controller are given in red
and green, respectively, and the obtained errors are given in Fig. 2b in the same colors.
The addition of the CT compensator to the PI speed feedback controller achieved
considerable improvement in trajectory tracking in simulation example, for a typical SDT
motion. The simulation results are significant regarding the choice of a control method for
the SDT, but are also useful regarding the design of the mechanical structure of the
manipulator, and consequently the appropriate choice of motors.
PB  - Kragujevac: Faculty of Engineering, University of Kragujevac, Department for Mechanical Constructions and Mechanization,
C3  - Book of Abstracts for the 9th International Scientific Conference [on] Research and Development of Mechanical Elements and Systems, IRMES 2019, 08-10. September, 2022.
T1  - Computed torque control for a spatial disorientation trainer
EP  - 173
SP  - 172
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4099
ER  - 

@conference{
author = "Vidaković, Jelena and Kvrgić, Vladimir and Lazarević, Mihailo and Stepanić, Pavle",
year = "2019",
abstract = "A development of a robot control system is a highly complex task, and many advanced
control strategies have been used for the purpose of overcoming nonlinear dynamic
coupling between the robot links and uncertainties in robot dynamics. Factors such as
characteristics of the mechanical design, applications for which the robot is designed,
applied actuators, and implementation requirements have great practical value to a choice
of the potential control strategy. The spatial disorientation trainer (SDT), Fig. 1, is a modern
combat aircraft pilot training system which examines a pilot's ability to recognize unusual
flight orientations, to adapt to unusual positions and to persuade the pilot to believe in the
aircraft instruments for orientation, and not in his own senses. This device is modeled as a
4DoF robot manipulator with revolute joints. Regarding a choice of a control strategy for the
SDT, given that advanced robot control strategies often entail difficulties in implementation,
prospective benefits of their application compared with traditional control approaches need
to be analyzed using proper simulation techniques. Herein, computed torque (CT) control, a
single joint feedforward control method that implies cancelation of nonlinear coupled terms
in robot dynamic model, is considered for tracking of SDT’s time‐varying trajectories. The
performance of the traditional PID controller is compared to CT compensation added to the
feedback controller in Simulink. Model of the motor’s mechanical subsystem takes into
account inertia reflected on the rotor’s shaft (effective inertia), calculated from the inverse
dynamic model of the SDT for the programmed trajectory of the device. The structure of PI
speed controller and limitation of its gains in the simulation model is performed to achieve
the fastest response without overshoots and without exciting resonances of the mechanical
structure for all possible values of effective inertia. Gains limitation of PI speed controller
takes into account the lowest structural natural frequency of the SDT device calculated using
CAE software, and saturation is applied at the outputs of controllers on the bases of
maximum torques that chosen motors can achieve. Within CT compensation, the error in
load torque calculation from the dynamic model is assumed to be 5%. The reference speed
values are given as a series of discrete values obtained from the trajectory planner.
In Fig. 2a, trajectory tracking for axes k=1, 2.. 4 using two considered types of controllers are
presented. Reference values are given in blue, the controlled process variables obtained by
PI speed controller and by CT compensation added to PI speed controller are given in red
and green, respectively, and the obtained errors are given in Fig. 2b in the same colors.
The addition of the CT compensator to the PI speed feedback controller achieved
considerable improvement in trajectory tracking in simulation example, for a typical SDT
motion. The simulation results are significant regarding the choice of a control method for
the SDT, but are also useful regarding the design of the mechanical structure of the
manipulator, and consequently the appropriate choice of motors.",
publisher = "Kragujevac: Faculty of Engineering, University of Kragujevac, Department for Mechanical Constructions and Mechanization,",
journal = "Book of Abstracts for the 9th International Scientific Conference [on] Research and Development of Mechanical Elements and Systems, IRMES 2019, 08-10. September, 2022.",
title = "Computed torque control for a spatial disorientation trainer",
pages = "173-172",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4099"
}

Vidaković, J., Kvrgić, V., Lazarević, M.,& Stepanić, P.. (2019). Computed torque control for a spatial disorientation trainer. in Book of Abstracts for the 9th International Scientific Conference [on] Research and Development of Mechanical Elements and Systems, IRMES 2019, 08-10. September, 2022.
Kragujevac: Faculty of Engineering, University of Kragujevac, Department for Mechanical Constructions and Mechanization,., 172-173.
https://hdl.handle.net/21.15107/rcub_machinery_4099

Vidaković J, Kvrgić V, Lazarević M, Stepanić P. Computed torque control for a spatial disorientation trainer. in Book of Abstracts for the 9th International Scientific Conference [on] Research and Development of Mechanical Elements and Systems, IRMES 2019, 08-10. September, 2022.. 2019;:172-173.
https://hdl.handle.net/21.15107/rcub_machinery_4099 .

Vidaković, Jelena, Kvrgić, Vladimir, Lazarević, Mihailo, Stepanić, Pavle, "Computed torque control for a spatial disorientation trainer" in Book of Abstracts for the 9th International Scientific Conference [on] Research and Development of Mechanical Elements and Systems, IRMES 2019, 08-10. September, 2022. (2019):172-173,
https://hdl.handle.net/21.15107/rcub_machinery_4099 .

TY  - CONF
AU  - Vidaković, Jelena
AU  - Kvrgić, Vladimir
AU  - Lazarević, Mihailo
AU  - Dimić, Zoran
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4102
AB  - Centrifuge motion simulator (CMS) is a training device used for simulation of high onset
rates of accelerations and high sustained accelerations acting on a pilot during challenging flights
of modern combat aircraft. The CMS device has three degrees of freedom. Training profiles in the
CMS require achieving of desired linear profiles of G-load with variable programmed onset rates.
The desired piecewise linear G-load profiles could lead to very demanding joint trajectories for
which achievement very powerful motors would have to be in use. In order to lessen the motor
load, to provide better tracking capabilities of controllers, and to avoid vibrational problems,
while in the same time achieving desired acceleration profiles, trajectory shaping techniques have
to be considered. In this paper, development of the algorithms for smoothing of motions of the
CMS’s second (roll) and the third (pitch) joint is presented. Smoothing of the absolute value of
the acceleration acting on a pilot is compared to smoothing of the CMS trajectories in joint space.
PB  - Beograd : Srpsko društvo za mehaniku
C3  - Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1e
T1  - Development of the algorithms for smoothing of trajectories of a roll and pitch axis of a centrifuge motion simulator
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4102
ER  - 

@conference{
author = "Vidaković, Jelena and Kvrgić, Vladimir and Lazarević, Mihailo and Dimić, Zoran",
year = "2019",
abstract = "Centrifuge motion simulator (CMS) is a training device used for simulation of high onset
rates of accelerations and high sustained accelerations acting on a pilot during challenging flights
of modern combat aircraft. The CMS device has three degrees of freedom. Training profiles in the
CMS require achieving of desired linear profiles of G-load with variable programmed onset rates.
The desired piecewise linear G-load profiles could lead to very demanding joint trajectories for
which achievement very powerful motors would have to be in use. In order to lessen the motor
load, to provide better tracking capabilities of controllers, and to avoid vibrational problems,
while in the same time achieving desired acceleration profiles, trajectory shaping techniques have
to be considered. In this paper, development of the algorithms for smoothing of motions of the
CMS’s second (roll) and the third (pitch) joint is presented. Smoothing of the absolute value of
the acceleration acting on a pilot is compared to smoothing of the CMS trajectories in joint space.",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1e",
title = "Development of the algorithms for smoothing of trajectories of a roll and pitch axis of a centrifuge motion simulator",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4102"
}

Vidaković, J., Kvrgić, V., Lazarević, M.,& Dimić, Z.. (2019). Development of the algorithms for smoothing of trajectories of a roll and pitch axis of a centrifuge motion simulator. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1e
Beograd : Srpsko društvo za mehaniku..
https://hdl.handle.net/21.15107/rcub_machinery_4102

Vidaković J, Kvrgić V, Lazarević M, Dimić Z. Development of the algorithms for smoothing of trajectories of a roll and pitch axis of a centrifuge motion simulator. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1e. 2019;.
https://hdl.handle.net/21.15107/rcub_machinery_4102 .

Vidaković, Jelena, Kvrgić, Vladimir, Lazarević, Mihailo, Dimić, Zoran, "Development of the algorithms for smoothing of trajectories of a roll and pitch axis of a centrifuge motion simulator" in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1e (2019),
https://hdl.handle.net/21.15107/rcub_machinery_4102 .

TY  - CONF
AU  - Vidaković, Jelena
AU  - Stepanović, Aleksandar
AU  - Lazarević, Mihailo
AU  - Kvrgić, Vladimir
AU  - Divnić, Danijel
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4133
AB  - Virtual machine design provides various useful means for machines to be produce ‘right the first time’ without the need for physical testing. This is very beneficial to the design of large, heavy and costly machinery such as centrifuge motion simulator (CMS). CMS is a dynamic device that simulates G forces and a dynamic flight conduct of high performance aircraft and spacecraft. It is used for testing of reactions and toler-ance of pilots and astronauts to accelerations above those experienced in the Earth's gravity (G load), as well as for pilot’s trainings in order to improve their abilities to control the aircraft under such difficult conditions. The CMS designed in Lola Institute has the form of a three degree-of-freedom (3DoF) manipulator with rotational axes, where the pilot’s head (or chest), considered to be the end-effector, is placed in the centre of the CMS gondola. From the standpoint of kinematics, predefined profiles of G load in the gondola centre are extremely challenging regarding joint accelerations, and they put huge amount of load on the motors. 
Benefits from simulations of a control system designed for a process based on a virtual dynamic model prior realization include reduced the overall machine design time, less safety concerns, possibility of re-design of the mechanical structure in accordance to the performance of the proposed control systems etc. The virtual structure of the CMS is made using Catia software, as shown in figure 1. The CMS is a complex geometry assembly and contains three links: main arm and roll ring carrying gondola. 
If significant flexible properties of the mechanical structure are present in the system, modeling and control methodologies of flexible manipulators have to be adopted. As a result of complex dynamical models, a design and implementation of control schemes realizing standard motion tasks of flexible robots is expected to be significantly more difficult than a design of rigid models-based robot control systems. For this reason, flexible features of the mechanical structure have to be determined. In this study CAE-based methods are used in this purpose. 
In the presence of long links, link compliance is a major source of deflections in ma-nipulator, and given that link deflection is an inherent property of flexible link manipu-lators, the argument for assessment of flexibility properties of the CMS through deter-mination of the CMS arm deflections is used. For this purpose, finite elements method (FEM) based simulations in Catia are performed.
Given that it is determined that the system is sufficiently stiff, control methods for rigid manipulators can be used for the CMS. In order not to excite unmodeled resonances, special attention is paid to: 1) critical speeds of the manipulator; 2) controller gain limitation as a function of natural frequencies of the mechanical structure. CAE tech-nology is used in this purpose also. Developed trajectory planner enabled joint veloci-ties simulations for different application programs, and their comparison with the criti-cal speeds of the mechanical structure. For the low damping case, natural frequencies of the CMS, obtained by modal analysis using FEM in Catia, are adopted as critical speeds of the CMS. Given that the obtained natural frequencies are significantly higher than the highest joint velocities, the unbalance distribution of mechanical structure is not expected to excite mechanical resonances when rigid model-based controller is used.
From the perspective of the complexity of control system, performance of dynamic model-based methods has to be compared with performance of a simpler traditional decentralized servo-controller. Control systems are considered for process based on virtual dynamic model. The flexibility of the mechanical structure of the CMS is con-sidered indirectly, within limitation of feedback controller parameters on the basis of the determined natural frequencies of the unconstrained links.
PB  - Novi Sad : Univerzitet u Novom Sadu, Fakultet tehnickih nauka
C3  - Book of abstracts : The 10th International Symposium on Machine and Industrial Design in Mechanical Engineering-KOD 2018, Novi Sad,  6-8 june
T1  - Usage of CAE environment within control algorithms design for a centrifuge motion simulator
EP  - 81
SP  - 80
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4133
ER  - 

@conference{
author = "Vidaković, Jelena and Stepanović, Aleksandar and Lazarević, Mihailo and Kvrgić, Vladimir and Divnić, Danijel",
year = "2018",
abstract = "Virtual machine design provides various useful means for machines to be produce ‘right the first time’ without the need for physical testing. This is very beneficial to the design of large, heavy and costly machinery such as centrifuge motion simulator (CMS). CMS is a dynamic device that simulates G forces and a dynamic flight conduct of high performance aircraft and spacecraft. It is used for testing of reactions and toler-ance of pilots and astronauts to accelerations above those experienced in the Earth's gravity (G load), as well as for pilot’s trainings in order to improve their abilities to control the aircraft under such difficult conditions. The CMS designed in Lola Institute has the form of a three degree-of-freedom (3DoF) manipulator with rotational axes, where the pilot’s head (or chest), considered to be the end-effector, is placed in the centre of the CMS gondola. From the standpoint of kinematics, predefined profiles of G load in the gondola centre are extremely challenging regarding joint accelerations, and they put huge amount of load on the motors. 
Benefits from simulations of a control system designed for a process based on a virtual dynamic model prior realization include reduced the overall machine design time, less safety concerns, possibility of re-design of the mechanical structure in accordance to the performance of the proposed control systems etc. The virtual structure of the CMS is made using Catia software, as shown in figure 1. The CMS is a complex geometry assembly and contains three links: main arm and roll ring carrying gondola. 
If significant flexible properties of the mechanical structure are present in the system, modeling and control methodologies of flexible manipulators have to be adopted. As a result of complex dynamical models, a design and implementation of control schemes realizing standard motion tasks of flexible robots is expected to be significantly more difficult than a design of rigid models-based robot control systems. For this reason, flexible features of the mechanical structure have to be determined. In this study CAE-based methods are used in this purpose. 
In the presence of long links, link compliance is a major source of deflections in ma-nipulator, and given that link deflection is an inherent property of flexible link manipu-lators, the argument for assessment of flexibility properties of the CMS through deter-mination of the CMS arm deflections is used. For this purpose, finite elements method (FEM) based simulations in Catia are performed.
Given that it is determined that the system is sufficiently stiff, control methods for rigid manipulators can be used for the CMS. In order not to excite unmodeled resonances, special attention is paid to: 1) critical speeds of the manipulator; 2) controller gain limitation as a function of natural frequencies of the mechanical structure. CAE tech-nology is used in this purpose also. Developed trajectory planner enabled joint veloci-ties simulations for different application programs, and their comparison with the criti-cal speeds of the mechanical structure. For the low damping case, natural frequencies of the CMS, obtained by modal analysis using FEM in Catia, are adopted as critical speeds of the CMS. Given that the obtained natural frequencies are significantly higher than the highest joint velocities, the unbalance distribution of mechanical structure is not expected to excite mechanical resonances when rigid model-based controller is used.
From the perspective of the complexity of control system, performance of dynamic model-based methods has to be compared with performance of a simpler traditional decentralized servo-controller. Control systems are considered for process based on virtual dynamic model. The flexibility of the mechanical structure of the CMS is con-sidered indirectly, within limitation of feedback controller parameters on the basis of the determined natural frequencies of the unconstrained links.",
publisher = "Novi Sad : Univerzitet u Novom Sadu, Fakultet tehnickih nauka",
journal = "Book of abstracts : The 10th International Symposium on Machine and Industrial Design in Mechanical Engineering-KOD 2018, Novi Sad,  6-8 june",
title = "Usage of CAE environment within control algorithms design for a centrifuge motion simulator",
pages = "81-80",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4133"
}

Vidaković, J., Stepanović, A., Lazarević, M., Kvrgić, V.,& Divnić, D.. (2018). Usage of CAE environment within control algorithms design for a centrifuge motion simulator. in Book of abstracts : The 10th International Symposium on Machine and Industrial Design in Mechanical Engineering-KOD 2018, Novi Sad,  6-8 june
Novi Sad : Univerzitet u Novom Sadu, Fakultet tehnickih nauka., 80-81.
https://hdl.handle.net/21.15107/rcub_machinery_4133

Vidaković J, Stepanović A, Lazarević M, Kvrgić V, Divnić D. Usage of CAE environment within control algorithms design for a centrifuge motion simulator. in Book of abstracts : The 10th International Symposium on Machine and Industrial Design in Mechanical Engineering-KOD 2018, Novi Sad,  6-8 june. 2018;:80-81.
https://hdl.handle.net/21.15107/rcub_machinery_4133 .

Vidaković, Jelena, Stepanović, Aleksandar, Lazarević, Mihailo, Kvrgić, Vladimir, Divnić, Danijel, "Usage of CAE environment within control algorithms design for a centrifuge motion simulator" in Book of abstracts : The 10th International Symposium on Machine and Industrial Design in Mechanical Engineering-KOD 2018, Novi Sad,  6-8 june (2018):80-81,
https://hdl.handle.net/21.15107/rcub_machinery_4133 .

TY  - JOUR
AU  - Vidaković, Jelena
AU  - Kvrgić, Vladimir
AU  - Lazarević, Mihailo
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2832
AB  - This paper presents a dynamic model-based design of a control system and an approach toward a drive selection of a centrifuge motion simulator (CMS). The objective of the presented method is to achieve the desired performance while taking into account the complexity of the control system and the overall device cost An estimation of a dynamic interaction of the interconnected CMS links motions is performed using the suitable inverse dynamics simulation. An algorithm based on the approximate inverse dynamics model is used within the drive selection method. The model of the actuator's mechanical subsystem includes the effective inertia (inertia reflected on the rotor shaft) calculated from the inverse dynamics model. A centralized control strategy based on a computed torque method is considered and compared to traditional decentralized motion controllers To obtain an accurate comparison of the suggested control methods through a realistic simulation, structural natural frequencies of the manipulator links are considered, and the actuator capabilities are taken into account The control system design and simulation methods and the drive selection strategies, presented here for the CMS, are applicable within the general robot manipulator's domain.
PB  - Assoc Mechanical Engineers Technicians Slovenia, Ljubljana
T2  - Strojniski Vestnik-Journal of Mechanical Engineering
T1  - Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model
EP  - 474
IS  - 7-8
SP  - 465
VL  - 64
DO  - 10.5545/sv-jme.2018.5272
ER  - 

@article{
author = "Vidaković, Jelena and Kvrgić, Vladimir and Lazarević, Mihailo",
year = "2018",
abstract = "This paper presents a dynamic model-based design of a control system and an approach toward a drive selection of a centrifuge motion simulator (CMS). The objective of the presented method is to achieve the desired performance while taking into account the complexity of the control system and the overall device cost An estimation of a dynamic interaction of the interconnected CMS links motions is performed using the suitable inverse dynamics simulation. An algorithm based on the approximate inverse dynamics model is used within the drive selection method. The model of the actuator's mechanical subsystem includes the effective inertia (inertia reflected on the rotor shaft) calculated from the inverse dynamics model. A centralized control strategy based on a computed torque method is considered and compared to traditional decentralized motion controllers To obtain an accurate comparison of the suggested control methods through a realistic simulation, structural natural frequencies of the manipulator links are considered, and the actuator capabilities are taken into account The control system design and simulation methods and the drive selection strategies, presented here for the CMS, are applicable within the general robot manipulator's domain.",
publisher = "Assoc Mechanical Engineers Technicians Slovenia, Ljubljana",
journal = "Strojniski Vestnik-Journal of Mechanical Engineering",
title = "Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model",
pages = "474-465",
number = "7-8",
volume = "64",
doi = "10.5545/sv-jme.2018.5272"
}

Vidaković, J., Kvrgić, V.,& Lazarević, M.. (2018). Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model. in Strojniski Vestnik-Journal of Mechanical Engineering
Assoc Mechanical Engineers Technicians Slovenia, Ljubljana., 64(7-8), 465-474.
https://doi.org/10.5545/sv-jme.2018.5272

Vidaković J, Kvrgić V, Lazarević M. Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model. in Strojniski Vestnik-Journal of Mechanical Engineering. 2018;64(7-8):465-474.
doi:10.5545/sv-jme.2018.5272 .

Vidaković, Jelena, Kvrgić, Vladimir, Lazarević, Mihailo, "Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model" in Strojniski Vestnik-Journal of Mechanical Engineering, 64, no. 7-8 (2018):465-474,
https://doi.org/10.5545/sv-jme.2018.5272 . .

TY  - JOUR
AU  - Vidaković, Jelena
AU  - Kvrgić, Vladimir
AU  - Lazarević, Mihailo
AU  - Dimić, Zoran
AU  - Mitrović, Stefan M.
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2507
AB  - Razvoj moćnih metoda za programiranje robota koje su ujedno i korisnički prilagođene je tema značajnih istraživanja u robotskoj zajednici. Radi olakšavanja programiranja robota, pojavljuje se ideja o razvoju standardnih procedura za programiranje najčešće prisutnih robotskih zadataka, a koje se mogu univerzalno lako upotrebiti kao gotov deo (ready-made) korisničkog programa. Važna klasa aplikacija industrijskih robota podrazumeva kretanje hvatača (end-effector) u paralelnim ravnima. U ovom radu je prikazan razvoj procedure jezika za programiranje robota koja služi za određivanje normale ravni objekta u odnosu na koordinatni sistem od značaja, kao i osnova procedure za automatizovani postupak programiranja orijentacije hvatača u odnosu na ravan objekta. Ova procedura se može koristiti kao integralni deo task oriented metoda programiranja robota, a takođe kao i procedura eksplicitnog robotskog programskog jezika, i ilustrovana je kroz praktični primer na robotu Lola 15.
AB  - Design of user-friendly and at the same time powerful robot programming methods is the subject of significant efforts undertaken by the international robotics community. For the purpose of facilitating robot programming, with regard to the most common present-day applications in industry, it would be useful to develop programming procedures for frequently used manipulator tasks which could be easily implemented and used as ready-made application software. Important class of industrial robot applications involves end-effector trajectories in planar surfaces. Development of robot programming language procedure intended for determination of object plane normal with respect to frame of interest, as well as programming of end-effector orientation is presented in this paper. This procedure can be used as integral part of task oriented robot programing applications as well as a procedure for explicit programming languages, and it is illustrated in practical example with the robot Lola 15.
PB  - Savez inženjera i tehničara Srbije, Beograd
T2  - Tehnika
T1  - Procedura za definisanje orijentacije end-efektora koji vrši ravno kretanje u robotskim aplikacijama
T1  - Procedure for definition of end-effector orientation in planar surfaces robot applications
EP  - 851
IS  - 6
SP  - 845
VL  - 72
DO  - 10.5937/tehnika1706845V
ER  - 

@article{
author = "Vidaković, Jelena and Kvrgić, Vladimir and Lazarević, Mihailo and Dimić, Zoran and Mitrović, Stefan M.",
year = "2017",
abstract = "Razvoj moćnih metoda za programiranje robota koje su ujedno i korisnički prilagođene je tema značajnih istraživanja u robotskoj zajednici. Radi olakšavanja programiranja robota, pojavljuje se ideja o razvoju standardnih procedura za programiranje najčešće prisutnih robotskih zadataka, a koje se mogu univerzalno lako upotrebiti kao gotov deo (ready-made) korisničkog programa. Važna klasa aplikacija industrijskih robota podrazumeva kretanje hvatača (end-effector) u paralelnim ravnima. U ovom radu je prikazan razvoj procedure jezika za programiranje robota koja služi za određivanje normale ravni objekta u odnosu na koordinatni sistem od značaja, kao i osnova procedure za automatizovani postupak programiranja orijentacije hvatača u odnosu na ravan objekta. Ova procedura se može koristiti kao integralni deo task oriented metoda programiranja robota, a takođe kao i procedura eksplicitnog robotskog programskog jezika, i ilustrovana je kroz praktični primer na robotu Lola 15., Design of user-friendly and at the same time powerful robot programming methods is the subject of significant efforts undertaken by the international robotics community. For the purpose of facilitating robot programming, with regard to the most common present-day applications in industry, it would be useful to develop programming procedures for frequently used manipulator tasks which could be easily implemented and used as ready-made application software. Important class of industrial robot applications involves end-effector trajectories in planar surfaces. Development of robot programming language procedure intended for determination of object plane normal with respect to frame of interest, as well as programming of end-effector orientation is presented in this paper. This procedure can be used as integral part of task oriented robot programing applications as well as a procedure for explicit programming languages, and it is illustrated in practical example with the robot Lola 15.",
publisher = "Savez inženjera i tehničara Srbije, Beograd",
journal = "Tehnika",
title = "Procedura za definisanje orijentacije end-efektora koji vrši ravno kretanje u robotskim aplikacijama, Procedure for definition of end-effector orientation in planar surfaces robot applications",
pages = "851-845",
number = "6",
volume = "72",
doi = "10.5937/tehnika1706845V"
}

Vidaković, J., Kvrgić, V., Lazarević, M., Dimić, Z.,& Mitrović, S. M.. (2017). Procedura za definisanje orijentacije end-efektora koji vrši ravno kretanje u robotskim aplikacijama. in Tehnika
Savez inženjera i tehničara Srbije, Beograd., 72(6), 845-851.
https://doi.org/10.5937/tehnika1706845V

Vidaković J, Kvrgić V, Lazarević M, Dimić Z, Mitrović SM. Procedura za definisanje orijentacije end-efektora koji vrši ravno kretanje u robotskim aplikacijama. in Tehnika. 2017;72(6):845-851.
doi:10.5937/tehnika1706845V .

Vidaković, Jelena, Kvrgić, Vladimir, Lazarević, Mihailo, Dimić, Zoran, Mitrović, Stefan M., "Procedura za definisanje orijentacije end-efektora koji vrši ravno kretanje u robotskim aplikacijama" in Tehnika, 72, no. 6 (2017):845-851,
https://doi.org/10.5937/tehnika1706845V . .

TY  - CONF
AU  - Kvrgić, Vladimir
AU  - Vidaković, Jelena
AU  - Lazarević, Mihailo
AU  - Pavlović, Goran
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4146
AB  - Pilots of modern combat aircraft are exposed to the devastating effects of high acceleration
forces and unusual orientation. The pilots’ ability to perform tasks under these extreme flight
conditions must be examined. A centrifuge flight simulator (CFS) for pilot training is designed as
a three-degree-of-freedom 3DoF manipulator with rotational axes. Through rotations about these
axes, acceleration forces that act on aircraft pilots are simulated. The spatial disorientation trainer
(SDT) examines a pilot’s ability to recognise unusual orientations, to adapt to unusual positions
and to persuade the pilot to believe in the aircraft instruments for orientation and not in his own
senses. The SDT is designed as a (4DoF) manipulator with rotational axes. Through rotations
about these axes, different orientations can be achieved; different acceleration forces acting on the
pilot can also be simulated. In this paper, the acceleration forces and angular velocities that act on
the simulator pilot in the CMS and SDT are calculated along with the roll and pitch angles of the
gondola for these forces.
PB  - Beograd : Srpsko društvo za mehaniku
C3  - 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017
T1  - Calculation of the acceleration force components and roll and pitch link angles of the CFS and SDT
EP  - 10
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4146
ER  - 

@conference{
author = "Kvrgić, Vladimir and Vidaković, Jelena and Lazarević, Mihailo and Pavlović, Goran",
year = "2017",
abstract = "Pilots of modern combat aircraft are exposed to the devastating effects of high acceleration
forces and unusual orientation. The pilots’ ability to perform tasks under these extreme flight
conditions must be examined. A centrifuge flight simulator (CFS) for pilot training is designed as
a three-degree-of-freedom 3DoF manipulator with rotational axes. Through rotations about these
axes, acceleration forces that act on aircraft pilots are simulated. The spatial disorientation trainer
(SDT) examines a pilot’s ability to recognise unusual orientations, to adapt to unusual positions
and to persuade the pilot to believe in the aircraft instruments for orientation and not in his own
senses. The SDT is designed as a (4DoF) manipulator with rotational axes. Through rotations
about these axes, different orientations can be achieved; different acceleration forces acting on the
pilot can also be simulated. In this paper, the acceleration forces and angular velocities that act on
the simulator pilot in the CMS and SDT are calculated along with the roll and pitch angles of the
gondola for these forces.",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017",
title = "Calculation of the acceleration force components and roll and pitch link angles of the CFS and SDT",
pages = "10-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4146"
}

Kvrgić, V., Vidaković, J., Lazarević, M.,& Pavlović, G.. (2017). Calculation of the acceleration force components and roll and pitch link angles of the CFS and SDT. in 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017
Beograd : Srpsko društvo za mehaniku., 1-10.
https://hdl.handle.net/21.15107/rcub_machinery_4146

Kvrgić V, Vidaković J, Lazarević M, Pavlović G. Calculation of the acceleration force components and roll and pitch link angles of the CFS and SDT. in 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017. 2017;:1-10.
https://hdl.handle.net/21.15107/rcub_machinery_4146 .

Kvrgić, Vladimir, Vidaković, Jelena, Lazarević, Mihailo, Pavlović, Goran, "Calculation of the acceleration force components and roll and pitch link angles of the CFS and SDT" in 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017 (2017):1-10,
https://hdl.handle.net/21.15107/rcub_machinery_4146 .

TY  - CONF
AU  - Vidaković, Jelena
AU  - Lazarević, Mihailo
AU  - Kvrgić, Vladimir
AU  - Lutovac-Banduka, Maja
AU  - Mitrović, Stefan
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4147
AB  - The spatial disorientation trainer (SDT) is a dynamic flight simulator used to enhance ability
of pilots of modern combat aircrafts to deal with dangerous effects of spatial disorientation. This
device can be modeled and controlled as 4DoF robot manipulator. In this paper, control system
design of SDT based on a dynamic model is presented. Two control strategies are compared: 1)
computed torque method with feedforward compensation of nonlinearities and cross-coupling
effects in dynamic model; 2) single joint (decentralized) PD position controller. PD controller is
designed for the actuator model which includes inertia reflected on rotor shafts (effective inertia).
Position feedback design considers structural natural frequencies of the manipulator. Effective
inertias of SDT for commanded motions are obtained from robot inverse dynamic model which is
developed using recursive Newton-Euler equations. Simulation of position tracking for
commanded motion is performed in Matlab Simulink.
PB  - Beograd : Srpsko društvo za mehaniku
C3  - 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017
T1  - Control system design of spatial disorientation trainer
EP  - 10
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4147
ER  - 

@conference{
author = "Vidaković, Jelena and Lazarević, Mihailo and Kvrgić, Vladimir and Lutovac-Banduka, Maja and Mitrović, Stefan",
year = "2017",
abstract = "The spatial disorientation trainer (SDT) is a dynamic flight simulator used to enhance ability
of pilots of modern combat aircrafts to deal with dangerous effects of spatial disorientation. This
device can be modeled and controlled as 4DoF robot manipulator. In this paper, control system
design of SDT based on a dynamic model is presented. Two control strategies are compared: 1)
computed torque method with feedforward compensation of nonlinearities and cross-coupling
effects in dynamic model; 2) single joint (decentralized) PD position controller. PD controller is
designed for the actuator model which includes inertia reflected on rotor shafts (effective inertia).
Position feedback design considers structural natural frequencies of the manipulator. Effective
inertias of SDT for commanded motions are obtained from robot inverse dynamic model which is
developed using recursive Newton-Euler equations. Simulation of position tracking for
commanded motion is performed in Matlab Simulink.",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017",
title = "Control system design of spatial disorientation trainer",
pages = "10-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4147"
}

Vidaković, J., Lazarević, M., Kvrgić, V., Lutovac-Banduka, M.,& Mitrović, S.. (2017). Control system design of spatial disorientation trainer. in 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017
Beograd : Srpsko društvo za mehaniku., 1-10.
https://hdl.handle.net/21.15107/rcub_machinery_4147

Vidaković J, Lazarević M, Kvrgić V, Lutovac-Banduka M, Mitrović S. Control system design of spatial disorientation trainer. in 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017. 2017;:1-10.
https://hdl.handle.net/21.15107/rcub_machinery_4147 .

Vidaković, Jelena, Lazarević, Mihailo, Kvrgić, Vladimir, Lutovac-Banduka, Maja, Mitrović, Stefan, "Control system design of spatial disorientation trainer" in 6th International Congress of Serbian Society  of Mechanics, Tara, Serbia, June 19-21, 2017 (2017):1-10,
https://hdl.handle.net/21.15107/rcub_machinery_4147 .

TY  - JOUR
AU  - Dimić, Zoran
AU  - Milutinović, Dragan
AU  - Živanović, Saša
AU  - Kvrgić, Vladimir
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2459
AB  - Robotic machining systems play an important role in modern manufacturing. The paper proposes the application of virtual robots for off-line programming. The reconfigurable machining robot, programmed in G-code, which can be directly used by CNC machine tool programmers and operators, is presented. The subject of study are 5- and 6-DOF vertical articulated robots that can be configured to emulate vertical and horizontal 5-axis spindle tilting machine tools. The considered machining systems are supported by equivalent virtual robots in the CAD/CAM environment and control system. Several test workpieces were machined to demonstrate the effectiveness of the proposed architecture.
PB  - Univ Osijek, Tech Fac, Slavonski Brod
T2  - Tehnički vjesnik
T1  - Virtual environment in control and programming system for reconfigurable machining robot
EP  - 1829
IS  - 6
SP  - 1821
VL  - 23
DO  - 10.17559/TV-20150210133556
ER  - 

@article{
author = "Dimić, Zoran and Milutinović, Dragan and Živanović, Saša and Kvrgić, Vladimir",
year = "2016",
abstract = "Robotic machining systems play an important role in modern manufacturing. The paper proposes the application of virtual robots for off-line programming. The reconfigurable machining robot, programmed in G-code, which can be directly used by CNC machine tool programmers and operators, is presented. The subject of study are 5- and 6-DOF vertical articulated robots that can be configured to emulate vertical and horizontal 5-axis spindle tilting machine tools. The considered machining systems are supported by equivalent virtual robots in the CAD/CAM environment and control system. Several test workpieces were machined to demonstrate the effectiveness of the proposed architecture.",
publisher = "Univ Osijek, Tech Fac, Slavonski Brod",
journal = "Tehnički vjesnik",
title = "Virtual environment in control and programming system for reconfigurable machining robot",
pages = "1829-1821",
number = "6",
volume = "23",
doi = "10.17559/TV-20150210133556"
}

Dimić, Z., Milutinović, D., Živanović, S.,& Kvrgić, V.. (2016). Virtual environment in control and programming system for reconfigurable machining robot. in Tehnički vjesnik
Univ Osijek, Tech Fac, Slavonski Brod., 23(6), 1821-1829.
https://doi.org/10.17559/TV-20150210133556

Dimić Z, Milutinović D, Živanović S, Kvrgić V. Virtual environment in control and programming system for reconfigurable machining robot. in Tehnički vjesnik. 2016;23(6):1821-1829.
doi:10.17559/TV-20150210133556 .

Dimić, Zoran, Milutinović, Dragan, Živanović, Saša, Kvrgić, Vladimir, "Virtual environment in control and programming system for reconfigurable machining robot" in Tehnički vjesnik, 23, no. 6 (2016):1821-1829,
https://doi.org/10.17559/TV-20150210133556 . .

TY  - JOUR
AU  - Vidaković, Jelena
AU  - Lazarević, Mihailo
AU  - Kvrgić, Vladimir
AU  - Dančuo, Zorana
AU  - Ferenc, Goran Z.
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2042
AB  - Formulisanje odgovarajućih i efikasnih algoritama kinematike robota je od suštinskog značaja za analizu i razvoj serijskih manipulatora. Kinematičko modelovanje manipulatora se najčešće vrši u Dekartovom prostoru. Međutim, usled nedostataka najzastupljenijih matematičkih operatora za definisanje orijentacije kao što su Ojlerovi uglovi i rotacione matrice, nameće se potreba za jednoznačnim, kompaktnim, računski efikasnim metodom za određivanje orijentacije. Kao rešenje ovog problema predlažu se jedinični kvaternioni kao i razvoj kinematičkih modela u prostoru dualnih kvaterniona. U ovom radu je dat pregled geometrijskih opisa i transformacija koje se mogu primeniti u okviru navedenih prostora kako bi se rešili problemi kinematike robota. Poseban akcenat je na različitim matematičkim formalizmima koji se koriste za definisanje orijentacije krutog tela, kao što su rotacione matrice, Ojlerovi uglovi, osa i ugao rotacije, jedinični kvaternioni, kao i na njihovoj uzajamnoj vezi. Prednosti kinematičkog modeliranja u prostoru kvaterniona su istaknute. Osobine jediničnih i dualnih kvaterniona se analiziraju sa stanovišta robotike. Takođe, dat je novi algoritam direktne kinematike robota u prostoru dualnih kvaterniona. Ovaj algoritam je primenjen na humanoj centrifugi koja je modelirana kao troosni manipulator.
AB  - Formulation of proper and efficient algorithms for robot kinematics is essential for the analysis and design of serial manipulators. Kinematic modeling of manipulators is most often performed in Cartesian space. However, due to disadvantages of most widely used mathematical constructs for description of orientation such as Euler angles and rotational matrices, a need for unambiguous, compact, singularity free, computationally efficient method for representing rotational information is imposed. As a solution, unit quaternions are proposed and kinematic modeling in dual quaternion space arose. In this paper, an overview of spatial descriptions and transformations that can be applied together within these spaces in order to solve kinematic problems is presented. Special emphasis is on a different mathematical formalisms used to represent attitude of a rigid body such as rotation matrix, Euler angles, axis-angle representation, unit quaternions, and their mutual relation. Benefits of kinematic modeling in quaternion space are presented. New direct kinematics algorithm in dual quaternion space pertaining to a particular manipulator is given. These constructs and algorithms are demonstrated on the human centrifuge as 3 DoF robot manipulator.
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Napredni kvaternionski algoritam direktne kinematike robota uključujući pregled različitih metoda kinematike robota
T1  - Advanced quaternion forward kinematics algorithm including overview of different methods for robot kinematics
EP  - 199
IS  - 3
SP  - 189
VL  - 42
DO  - 10.5937/fmet1403189V
ER  - 

@article{
author = "Vidaković, Jelena and Lazarević, Mihailo and Kvrgić, Vladimir and Dančuo, Zorana and Ferenc, Goran Z.",
year = "2014",
abstract = "Formulisanje odgovarajućih i efikasnih algoritama kinematike robota je od suštinskog značaja za analizu i razvoj serijskih manipulatora. Kinematičko modelovanje manipulatora se najčešće vrši u Dekartovom prostoru. Međutim, usled nedostataka najzastupljenijih matematičkih operatora za definisanje orijentacije kao što su Ojlerovi uglovi i rotacione matrice, nameće se potreba za jednoznačnim, kompaktnim, računski efikasnim metodom za određivanje orijentacije. Kao rešenje ovog problema predlažu se jedinični kvaternioni kao i razvoj kinematičkih modela u prostoru dualnih kvaterniona. U ovom radu je dat pregled geometrijskih opisa i transformacija koje se mogu primeniti u okviru navedenih prostora kako bi se rešili problemi kinematike robota. Poseban akcenat je na različitim matematičkim formalizmima koji se koriste za definisanje orijentacije krutog tela, kao što su rotacione matrice, Ojlerovi uglovi, osa i ugao rotacije, jedinični kvaternioni, kao i na njihovoj uzajamnoj vezi. Prednosti kinematičkog modeliranja u prostoru kvaterniona su istaknute. Osobine jediničnih i dualnih kvaterniona se analiziraju sa stanovišta robotike. Takođe, dat je novi algoritam direktne kinematike robota u prostoru dualnih kvaterniona. Ovaj algoritam je primenjen na humanoj centrifugi koja je modelirana kao troosni manipulator., Formulation of proper and efficient algorithms for robot kinematics is essential for the analysis and design of serial manipulators. Kinematic modeling of manipulators is most often performed in Cartesian space. However, due to disadvantages of most widely used mathematical constructs for description of orientation such as Euler angles and rotational matrices, a need for unambiguous, compact, singularity free, computationally efficient method for representing rotational information is imposed. As a solution, unit quaternions are proposed and kinematic modeling in dual quaternion space arose. In this paper, an overview of spatial descriptions and transformations that can be applied together within these spaces in order to solve kinematic problems is presented. Special emphasis is on a different mathematical formalisms used to represent attitude of a rigid body such as rotation matrix, Euler angles, axis-angle representation, unit quaternions, and their mutual relation. Benefits of kinematic modeling in quaternion space are presented. New direct kinematics algorithm in dual quaternion space pertaining to a particular manipulator is given. These constructs and algorithms are demonstrated on the human centrifuge as 3 DoF robot manipulator.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Napredni kvaternionski algoritam direktne kinematike robota uključujući pregled različitih metoda kinematike robota, Advanced quaternion forward kinematics algorithm including overview of different methods for robot kinematics",
pages = "199-189",
number = "3",
volume = "42",
doi = "10.5937/fmet1403189V"
}

Vidaković, J., Lazarević, M., Kvrgić, V., Dančuo, Z.,& Ferenc, G. Z.. (2014). Napredni kvaternionski algoritam direktne kinematike robota uključujući pregled različitih metoda kinematike robota. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 42(3), 189-199.
https://doi.org/10.5937/fmet1403189V

Vidaković J, Lazarević M, Kvrgić V, Dančuo Z, Ferenc GZ. Napredni kvaternionski algoritam direktne kinematike robota uključujući pregled različitih metoda kinematike robota. in FME Transactions. 2014;42(3):189-199.
doi:10.5937/fmet1403189V .

Vidaković, Jelena, Lazarević, Mihailo, Kvrgić, Vladimir, Dančuo, Zorana, Ferenc, Goran Z., "Napredni kvaternionski algoritam direktne kinematike robota uključujući pregled različitih metoda kinematike robota" in FME Transactions, 42, no. 3 (2014):189-199,
https://doi.org/10.5937/fmet1403189V . .

TY  - JOUR
AU  - Dančuo, Zorana
AU  - Rašuo, Boško
AU  - Kvrgić, Vladimir
AU  - Vidaković, Jelena
AU  - Džinić, Nemanja
PY  - 2013
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1609
AB  - Prostorna dezorijentacija predstavlja jednu od najvećih pretnji za pilote modernih borbenih aviona. Tokom vremena razvijeni su različiti simulatori leta sa ciljem da simuliraju što realnije uslove leta. Uređaj za prostornu dezorijentaciju pilota poboljšava situacionu svesnost i pruža efikasnu obuku za izbegavanje fenomena poznatijeg kao prostorna dezorijentacija. U ovom radu je predstavljena kinematska analiza jednog savremenog dezorijentatora. Dezorijentator je modeliran kao robotski manipulator sa četiri stepena slobode kretanja. Glava pilota predstavlja end efektor, i nalazi se u preseku osa valjanja, propinjanja i skretanja. Koordinatni sistemi postavljeni su prema Denavit-Hartenbergovoj konvenciji, prikazane su homogene matrice transformacije i jednačine koje čine kinematiku dezorijentatora. Dat je prikaz Jakobijeve matrice za rešavanje kinematskog problema. Ovo istraživanje predstavlja uvod za dinamičku analizu dezorijentatora.
PR Projekat Ministarstva nauke Republike Srbije, br. TR35023: Razvoj uređaja za trening pilota i simulaciju leta modernih borbenih aviona i to troosne centrifuge i četvoroosnog uređaja za prostornu dezorijentaciju pilota.
AB  - Spatial disorientation is one of the major threats to pilots of modern fighter aircraft. Over time various flight simulators were developed, in order to simulate real flight conditions as closely as possible. The device has the main objective to improve the spatial orientation of pilots, situational awareness and provide effective training to avoid a phenomenon known as spatial disorientation. In this paper, a kinematic analysis of the disorientator is presented. The Spatial Disorientator (SDT) is modeled as four-joint revolute robotic manipulator. The pilot’s head is the end effector, and is located at the intersection of the roll, pitch and yaw axes. The coordinate frames are set according to the Denavit- Hartenberg convention, homogeneous transformation matrices and equations for calculating the SDT kinematics are presented, as well as the Jacobi matrix. This study represents an introduction to the dynamic analysis of the disorientator.
PB  - Savez inženjera i tehničara Srbije, Beograd
T2  - Tehnika
T1  - Kinematska analiza uređaja za prostornu dezorijentaciju pilota
T1  - A kinematics study for a spatial disorientation trainer for pilot training
EP  - 258
IS  - 2
SP  - 252
VL  - 68
UR  - https://hdl.handle.net/21.15107/rcub_machinery_1609
ER  - 

@article{
author = "Dančuo, Zorana and Rašuo, Boško and Kvrgić, Vladimir and Vidaković, Jelena and Džinić, Nemanja",
year = "2013",
abstract = "Prostorna dezorijentacija predstavlja jednu od najvećih pretnji za pilote modernih borbenih aviona. Tokom vremena razvijeni su različiti simulatori leta sa ciljem da simuliraju što realnije uslove leta. Uređaj za prostornu dezorijentaciju pilota poboljšava situacionu svesnost i pruža efikasnu obuku za izbegavanje fenomena poznatijeg kao prostorna dezorijentacija. U ovom radu je predstavljena kinematska analiza jednog savremenog dezorijentatora. Dezorijentator je modeliran kao robotski manipulator sa četiri stepena slobode kretanja. Glava pilota predstavlja end efektor, i nalazi se u preseku osa valjanja, propinjanja i skretanja. Koordinatni sistemi postavljeni su prema Denavit-Hartenbergovoj konvenciji, prikazane su homogene matrice transformacije i jednačine koje čine kinematiku dezorijentatora. Dat je prikaz Jakobijeve matrice za rešavanje kinematskog problema. Ovo istraživanje predstavlja uvod za dinamičku analizu dezorijentatora.
PR Projekat Ministarstva nauke Republike Srbije, br. TR35023: Razvoj uređaja za trening pilota i simulaciju leta modernih borbenih aviona i to troosne centrifuge i četvoroosnog uređaja za prostornu dezorijentaciju pilota., Spatial disorientation is one of the major threats to pilots of modern fighter aircraft. Over time various flight simulators were developed, in order to simulate real flight conditions as closely as possible. The device has the main objective to improve the spatial orientation of pilots, situational awareness and provide effective training to avoid a phenomenon known as spatial disorientation. In this paper, a kinematic analysis of the disorientator is presented. The Spatial Disorientator (SDT) is modeled as four-joint revolute robotic manipulator. The pilot’s head is the end effector, and is located at the intersection of the roll, pitch and yaw axes. The coordinate frames are set according to the Denavit- Hartenberg convention, homogeneous transformation matrices and equations for calculating the SDT kinematics are presented, as well as the Jacobi matrix. This study represents an introduction to the dynamic analysis of the disorientator.",
publisher = "Savez inženjera i tehničara Srbije, Beograd",
journal = "Tehnika",
title = "Kinematska analiza uređaja za prostornu dezorijentaciju pilota, A kinematics study for a spatial disorientation trainer for pilot training",
pages = "258-252",
number = "2",
volume = "68",
url = "https://hdl.handle.net/21.15107/rcub_machinery_1609"
}

Dančuo, Z., Rašuo, B., Kvrgić, V., Vidaković, J.,& Džinić, N.. (2013). Kinematska analiza uređaja za prostornu dezorijentaciju pilota. in Tehnika
Savez inženjera i tehničara Srbije, Beograd., 68(2), 252-258.
https://hdl.handle.net/21.15107/rcub_machinery_1609

Dančuo Z, Rašuo B, Kvrgić V, Vidaković J, Džinić N. Kinematska analiza uređaja za prostornu dezorijentaciju pilota. in Tehnika. 2013;68(2):252-258.
https://hdl.handle.net/21.15107/rcub_machinery_1609 .

Dančuo, Zorana, Rašuo, Boško, Kvrgić, Vladimir, Vidaković, Jelena, Džinić, Nemanja, "Kinematska analiza uređaja za prostornu dezorijentaciju pilota" in Tehnika, 68, no. 2 (2013):252-258,
https://hdl.handle.net/21.15107/rcub_machinery_1609 .

TY  - CONF
AU  - Živanović, Saša
AU  - Glavonjić, Miloš
AU  - Milutinović, Dragan
AU  - Slavković, Nikola
AU  - Dimić, Zoran
AU  - Kvrgić, Vladimir
PY  - 2013
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4706
AB  - U radu je predstavljen edukacioni sistem EduMAT za edukaciju u konfigurisanju, programiranju i rukovanju numeri ki upravljanih mašina alatki, na primeru razvijene edukacione stone troosne mašine sa paralelnom kinematikom. Ovaj edukacioni sistem je primenljiv i u obuci NU programera i operatera, kao i za obuku korisnika CAD/CAM softvera. Stona troosna mašina sa paralelnom kinematikom kao osnova edukacionog sistema je namenjena za trening i edukaciju u visokoškolskim ustanovama, srednjim školama i fabrikama. Prednost primene edukacionog Sistema EduMAT je mogu nost pojedina ne obuke polaznika, gde svaku polaznik ima svoju mašinu za samostalan rad.
PB  - Fakultet tehničkih nauka u Čačku
C3  - Zbornik radova - Nacionalna konferencija sa međunarodnim učešćem Reinženjering poslovnih procesa u obrazovanju RPPO13
T1  - Edukacioni sistem edumat za programiranje CNC mašina alatki
EP  - 305
SP  - 298
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4706
ER  - 

@conference{
author = "Živanović, Saša and Glavonjić, Miloš and Milutinović, Dragan and Slavković, Nikola and Dimić, Zoran and Kvrgić, Vladimir",
year = "2013",
abstract = "U radu je predstavljen edukacioni sistem EduMAT za edukaciju u konfigurisanju, programiranju i rukovanju numeri ki upravljanih mašina alatki, na primeru razvijene edukacione stone troosne mašine sa paralelnom kinematikom. Ovaj edukacioni sistem je primenljiv i u obuci NU programera i operatera, kao i za obuku korisnika CAD/CAM softvera. Stona troosna mašina sa paralelnom kinematikom kao osnova edukacionog sistema je namenjena za trening i edukaciju u visokoškolskim ustanovama, srednjim školama i fabrikama. Prednost primene edukacionog Sistema EduMAT je mogu nost pojedina ne obuke polaznika, gde svaku polaznik ima svoju mašinu za samostalan rad.",
publisher = "Fakultet tehničkih nauka u Čačku",
journal = "Zbornik radova - Nacionalna konferencija sa međunarodnim učešćem Reinženjering poslovnih procesa u obrazovanju RPPO13",
title = "Edukacioni sistem edumat za programiranje CNC mašina alatki",
pages = "305-298",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4706"
}

Živanović, S., Glavonjić, M., Milutinović, D., Slavković, N., Dimić, Z.,& Kvrgić, V.. (2013). Edukacioni sistem edumat za programiranje CNC mašina alatki. in Zbornik radova - Nacionalna konferencija sa međunarodnim učešćem Reinženjering poslovnih procesa u obrazovanju RPPO13
Fakultet tehničkih nauka u Čačku., 298-305.
https://hdl.handle.net/21.15107/rcub_machinery_4706

Živanović S, Glavonjić M, Milutinović D, Slavković N, Dimić Z, Kvrgić V. Edukacioni sistem edumat za programiranje CNC mašina alatki. in Zbornik radova - Nacionalna konferencija sa međunarodnim učešćem Reinženjering poslovnih procesa u obrazovanju RPPO13. 2013;:298-305.
https://hdl.handle.net/21.15107/rcub_machinery_4706 .

Živanović, Saša, Glavonjić, Miloš, Milutinović, Dragan, Slavković, Nikola, Dimić, Zoran, Kvrgić, Vladimir, "Edukacioni sistem edumat za programiranje CNC mašina alatki" in Zbornik radova - Nacionalna konferencija sa međunarodnim učešćem Reinženjering poslovnih procesa u obrazovanju RPPO13 (2013):298-305,
https://hdl.handle.net/21.15107/rcub_machinery_4706 .

TY  - CONF
AU  - Vidaković, Jelena
AU  - Kvrgić, Vladimir
AU  - Ferenc, Goran
AU  - Dančuo, Zorana
AU  - Lazarević, Mihailo
PY  - 2013
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4446
AB  - Human centrifuge is dynamic flight simulator used to provide motion and forces
cues of modern combat aircraft. It is mainly intended for safe and reliable generation of high
G onset rates and high levels of sustained G for pilot trainings and research. In this paper,
modeling of human centrifuge as a three DoF robot manipulator with revolute joints is
presented. Pilots seat is controlled as end-effector. Here, Rodriguez formula is proposed for
modeling kinematics and dynamics of the human centrifuge. Algorithms of direct and
inverse kinematics are developed. Velocities and accelerations of CM’s (centers of masses)
of centrifuge links are determined and the results are compared with results obtained from
developed Jacobian where singular positions are particularly discussed. Inverse dynamics
algorithm based on covariant form of Lagrange equations of the second kind is given.
Developed kinematic and dynamic models are implemented into control unit and simulated
in offline part if control system.
PB  - Belgrade: Serbian Society of Mechanics
C3  - Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013
T1  - Kinematic and Dynamic Model of the Human Centrifuge
EP  - 632
SP  - 627
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4446
ER  - 

@conference{
author = "Vidaković, Jelena and Kvrgić, Vladimir and Ferenc, Goran and Dančuo, Zorana and Lazarević, Mihailo",
year = "2013",
abstract = "Human centrifuge is dynamic flight simulator used to provide motion and forces
cues of modern combat aircraft. It is mainly intended for safe and reliable generation of high
G onset rates and high levels of sustained G for pilot trainings and research. In this paper,
modeling of human centrifuge as a three DoF robot manipulator with revolute joints is
presented. Pilots seat is controlled as end-effector. Here, Rodriguez formula is proposed for
modeling kinematics and dynamics of the human centrifuge. Algorithms of direct and
inverse kinematics are developed. Velocities and accelerations of CM’s (centers of masses)
of centrifuge links are determined and the results are compared with results obtained from
developed Jacobian where singular positions are particularly discussed. Inverse dynamics
algorithm based on covariant form of Lagrange equations of the second kind is given.
Developed kinematic and dynamic models are implemented into control unit and simulated
in offline part if control system.",
publisher = "Belgrade: Serbian Society of Mechanics",
journal = "Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013",
title = "Kinematic and Dynamic Model of the Human Centrifuge",
pages = "632-627",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4446"
}

Vidaković, J., Kvrgić, V., Ferenc, G., Dančuo, Z.,& Lazarević, M.. (2013). Kinematic and Dynamic Model of the Human Centrifuge. in Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013
Belgrade: Serbian Society of Mechanics., 627-632.
https://hdl.handle.net/21.15107/rcub_machinery_4446

Vidaković J, Kvrgić V, Ferenc G, Dančuo Z, Lazarević M. Kinematic and Dynamic Model of the Human Centrifuge. in Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013. 2013;:627-632.
https://hdl.handle.net/21.15107/rcub_machinery_4446 .

Vidaković, Jelena, Kvrgić, Vladimir, Ferenc, Goran, Dančuo, Zorana, Lazarević, Mihailo, "Kinematic and Dynamic Model of the Human Centrifuge" in Proceedings of the 4th International Congress of Serbian Society of Mechanics, Vrnjačka Banja, Serbia, June 4-7, 2013 (2013):627-632,
https://hdl.handle.net/21.15107/rcub_machinery_4446 .

TY  - CONF
AU  - Vidaković, Jelena
AU  - Lazarević, Mihailo
AU  - Kvrgić, Vladimir
AU  - Dančuo, Zorana
AU  - Lutovac, Maja
PY  - 2013
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4599
AB  - To achieve predefined Gz load profile in high G training in human centrifuge, it is necessary to determine angular velocity and  acceleration of a planetary axis (centrifuge arm). Initial value problem that can not be solved in closed form was obtained.  Several discretization methods for calculating angular velocity of centrifuge arm driven by DC servo motor are presented.
Simulations are performed for different positive and negative values of Gz onset.
PB  - Wiley Online Library
C3  - Proceedings of 84th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM 2013), 18-22 March, Novi Sad Serbia, PAMM
T1  - Comparison of Numerical Simulation Models for Open Loop Flight Simulations in the Human Centrifuge
EP  - 486
IS  - 13(1)
SP  - 485
DO  - 10.1002/pamm.201310235
ER  - 

@conference{
author = "Vidaković, Jelena and Lazarević, Mihailo and Kvrgić, Vladimir and Dančuo, Zorana and Lutovac, Maja",
year = "2013",
abstract = "To achieve predefined Gz load profile in high G training in human centrifuge, it is necessary to determine angular velocity and  acceleration of a planetary axis (centrifuge arm). Initial value problem that can not be solved in closed form was obtained.  Several discretization methods for calculating angular velocity of centrifuge arm driven by DC servo motor are presented.
Simulations are performed for different positive and negative values of Gz onset.",
publisher = "Wiley Online Library",
journal = "Proceedings of 84th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM 2013), 18-22 March, Novi Sad Serbia, PAMM",
title = "Comparison of Numerical Simulation Models for Open Loop Flight Simulations in the Human Centrifuge",
pages = "486-485",
number = "13(1)",
doi = "10.1002/pamm.201310235"
}

Vidaković, J., Lazarević, M., Kvrgić, V., Dančuo, Z.,& Lutovac, M.. (2013). Comparison of Numerical Simulation Models for Open Loop Flight Simulations in the Human Centrifuge. in Proceedings of 84th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM 2013), 18-22 March, Novi Sad Serbia, PAMM
Wiley Online Library.(13(1)), 485-486.
https://doi.org/10.1002/pamm.201310235

Vidaković J, Lazarević M, Kvrgić V, Dančuo Z, Lutovac M. Comparison of Numerical Simulation Models for Open Loop Flight Simulations in the Human Centrifuge. in Proceedings of 84th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM 2013), 18-22 March, Novi Sad Serbia, PAMM. 2013;(13(1)):485-486.
doi:10.1002/pamm.201310235 .

Vidaković, Jelena, Lazarević, Mihailo, Kvrgić, Vladimir, Dančuo, Zorana, Lutovac, Maja, "Comparison of Numerical Simulation Models for Open Loop Flight Simulations in the Human Centrifuge" in Proceedings of 84th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM 2013), 18-22 March, Novi Sad Serbia, PAMM, no. 13(1) (2013):485-486,
https://doi.org/10.1002/pamm.201310235 . .

TY  - GEN
AU  - Glavonjić, Miloš
AU  - Milutinović, Dragan
AU  - Kvrgić, Vladimir
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Slavković, Nikola
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4762
AB  - Мини лабopaтopиjcкa и eдyкaциoнa cтoнa тpoocнa rлoдaлицa ca пapaлeлнoм кинeмaтикoм (Едyкaцuoнu cucмeм pn101_st) кoнципиpaнa je и направљена пocлe ycлeшнor paвoja индycтpиjcкor пpoтoтипa вepтикaлнe тpoocнe rлoдaлицe LOLA pn101 V1.4 ca пaтeнтиpaним пapaлeлним мexaнизмoм pn101. Ова машина мoжe дa представља значајан допринос у едукацији зa paвoj и коришћење машина aлaтки ca пapaлeлнoм кинeмaтикoм и ca управљањем отворене архитектуре. Машина je део једнor кoмплeтнor едукационог радног места намењеног зa обуку и увежбавање следећих вештина (Едукационог система pn101_st), потребних за технологије нумеричког управљања нa cвим нивoимa oбpaзoвaњa и y cвим индycтpиjcким ycлoвимa: (i) зa кoнфиrypиcaњe oбpaднor cиcтeмa пoмoћy мaшинe aлaткe ca пapaлeлнoм кинeмaтикoм и jeднor мoдepнor cиcтeмa зa yпpaвљање oтвopeнe apxитeктype, кojи je бaзиpaн нa PC и (ii) зa пporpaмиpaњe тpoocниx rлoдaлицa cвиx типoвa пoмoћy CAM cиcтeмa. Кopиcтe ce пporpaми кojи cy y фopмaтy G кoдa и нa диjaлeктy NGC (Next Generation Control), бeз orpaничeњa y oднocy нa дyжинy пporpaмa, тpaнcлaциje кoopдинaтниx cиcтeмa oбpaткa, pacлoлoживe пpипpeмнe и пoмoћнe фyнкциje и cличнo. У oвaкo конципираном едукационом кoмллeтy oмoryћeнo je реконфигурисање хардвера (caмe машине) и софтвера (система за управљање) пo вpлo приступачнoj цени. Управљачку јединицу чини један PC ca оперативним системом Linux, са додатком који му омогућава да може да ради у реалном времену и системом за нумеричко управљање отворене архитектуре EМC2.
T2  - Техничко решење је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер.
T1  - Мини лабораторијска и едукациона стона троосна глодалица са паралелном кинематиком -Техничко решење
EP  - 45
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4762
ER  - 

@misc{
author = "Glavonjić, Miloš and Milutinović, Dragan and Kvrgić, Vladimir and Živanović, Saša and Dimić, Zoran and Slavković, Nikola",
year = "2012",
abstract = "Мини лабopaтopиjcкa и eдyкaциoнa cтoнa тpoocнa rлoдaлицa ca пapaлeлнoм кинeмaтикoм (Едyкaцuoнu cucмeм pn101_st) кoнципиpaнa je и направљена пocлe ycлeшнor paвoja индycтpиjcкor пpoтoтипa вepтикaлнe тpoocнe rлoдaлицe LOLA pn101 V1.4 ca пaтeнтиpaним пapaлeлним мexaнизмoм pn101. Ова машина мoжe дa представља значајан допринос у едукацији зa paвoj и коришћење машина aлaтки ca пapaлeлнoм кинeмaтикoм и ca управљањем отворене архитектуре. Машина je део једнor кoмплeтнor едукационог радног места намењеног зa обуку и увежбавање следећих вештина (Едукационог система pn101_st), потребних за технологије нумеричког управљања нa cвим нивoимa oбpaзoвaњa и y cвим индycтpиjcким ycлoвимa: (i) зa кoнфиrypиcaњe oбpaднor cиcтeмa пoмoћy мaшинe aлaткe ca пapaлeлнoм кинeмaтикoм и jeднor мoдepнor cиcтeмa зa yпpaвљање oтвopeнe apxитeктype, кojи je бaзиpaн нa PC и (ii) зa пporpaмиpaњe тpoocниx rлoдaлицa cвиx типoвa пoмoћy CAM cиcтeмa. Кopиcтe ce пporpaми кojи cy y фopмaтy G кoдa и нa диjaлeктy NGC (Next Generation Control), бeз orpaничeњa y oднocy нa дyжинy пporpaмa, тpaнcлaциje кoopдинaтниx cиcтeмa oбpaткa, pacлoлoживe пpипpeмнe и пoмoћнe фyнкциje и cличнo. У oвaкo конципираном едукационом кoмллeтy oмoryћeнo je реконфигурисање хардвера (caмe машине) и софтвера (система за управљање) пo вpлo приступачнoj цени. Управљачку јединицу чини један PC ca оперативним системом Linux, са додатком који му омогућава да може да ради у реалном времену и системом за нумеричко управљање отворене архитектуре EМC2.",
journal = "Техничко решење је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер.",
title = "Мини лабораторијска и едукациона стона троосна глодалица са паралелном кинематиком -Техничко решење",
pages = "45-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4762"
}

Glavonjić, M., Milutinović, D., Kvrgić, V., Živanović, S., Dimić, Z.,& Slavković, N.. (2012). Мини лабораторијска и едукациона стона троосна глодалица са паралелном кинематиком -Техничко решење. in Техничко решење је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер., 1-45.
https://hdl.handle.net/21.15107/rcub_machinery_4762

Glavonjić M, Milutinović D, Kvrgić V, Živanović S, Dimić Z, Slavković N. Мини лабораторијска и едукациона стона троосна глодалица са паралелном кинематиком -Техничко решење. in Техничко решење је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер.. 2012;:1-45.
https://hdl.handle.net/21.15107/rcub_machinery_4762 .

Glavonjić, Miloš, Milutinović, Dragan, Kvrgić, Vladimir, Živanović, Saša, Dimić, Zoran, Slavković, Nikola, "Мини лабораторијска и едукациона стона троосна глодалица са паралелном кинематиком -Техничко решење" in Техничко решење је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер. (2012):1-45,
https://hdl.handle.net/21.15107/rcub_machinery_4762 .

TY  - CONF
AU  - Vidaković, Jelena
AU  - Kvrgić, Vladimir
AU  - Ferenc, Goran
AU  - Lutovac, Maja
AU  - Lazarević, Mihailo
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4666
AB  - Humana centrifuga je dinamički simulator leta koji služi za verodostojnu simulaciju leta savremenih borbenih aviona. Ovaj uređaj može biti modeliran kao jedan robotski sistem. Za upravljanje robotskim sistemom neophodno je poznavati njegovu kinematiku i dinamiku. U ovom radu prikazan je kinematički model humane centrifuge koja je modelirana kao troosni robotski sistem sa rotacionim zglobovima.
PB  - Beograd : Društvo za ETRAN
C3  - Zbornik radova 56. konferencije ETRAN, Zlatibor, 11 – 14. juna 2012
T1  - Kinematički model humane centrifuge
T1  - Kinematic model of a human centrifuge
EP  - 4/RO1.4
SP  - 1/RO1.4
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4666
ER  - 

@conference{
author = "Vidaković, Jelena and Kvrgić, Vladimir and Ferenc, Goran and Lutovac, Maja and Lazarević, Mihailo",
year = "2012",
abstract = "Humana centrifuga je dinamički simulator leta koji služi za verodostojnu simulaciju leta savremenih borbenih aviona. Ovaj uređaj može biti modeliran kao jedan robotski sistem. Za upravljanje robotskim sistemom neophodno je poznavati njegovu kinematiku i dinamiku. U ovom radu prikazan je kinematički model humane centrifuge koja je modelirana kao troosni robotski sistem sa rotacionim zglobovima.",
publisher = "Beograd : Društvo za ETRAN",
journal = "Zbornik radova 56. konferencije ETRAN, Zlatibor, 11 – 14. juna 2012",
title = "Kinematički model humane centrifuge, Kinematic model of a human centrifuge",
pages = "4/RO1.4-1/RO1.4",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4666"
}

Vidaković, J., Kvrgić, V., Ferenc, G., Lutovac, M.,& Lazarević, M.. (2012). Kinematički model humane centrifuge. in Zbornik radova 56. konferencije ETRAN, Zlatibor, 11 – 14. juna 2012
Beograd : Društvo za ETRAN., 1/RO1.4-4/RO1.4.
https://hdl.handle.net/21.15107/rcub_machinery_4666

Vidaković J, Kvrgić V, Ferenc G, Lutovac M, Lazarević M. Kinematički model humane centrifuge. in Zbornik radova 56. konferencije ETRAN, Zlatibor, 11 – 14. juna 2012. 2012;:1/RO1.4-4/RO1.4.
https://hdl.handle.net/21.15107/rcub_machinery_4666 .

Vidaković, Jelena, Kvrgić, Vladimir, Ferenc, Goran, Lutovac, Maja, Lazarević, Mihailo, "Kinematički model humane centrifuge" in Zbornik radova 56. konferencije ETRAN, Zlatibor, 11 – 14. juna 2012 (2012):1/RO1.4-4/RO1.4,
https://hdl.handle.net/21.15107/rcub_machinery_4666 .

TY  - CONF
AU  - Vidaković, Jelena
AU  - Kvrgić, Vladimir
AU  - Ferenc, G.
AU  - Dančuo, Zorana
AU  - Lazarević, Mihailo
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1564
PB  - University of Belgrade
C3  - 29th DANUBlA-ADRIA Symposium on Advances in Experimental Mechanics, DAS 2012
T1  - Control of a human centrifuge
EP  - 189
SP  - 186
UR  - https://hdl.handle.net/21.15107/rcub_machinery_1564
ER  - 

@conference{
author = "Vidaković, Jelena and Kvrgić, Vladimir and Ferenc, G. and Dančuo, Zorana and Lazarević, Mihailo",
year = "2012",
publisher = "University of Belgrade",
journal = "29th DANUBlA-ADRIA Symposium on Advances in Experimental Mechanics, DAS 2012",
title = "Control of a human centrifuge",
pages = "189-186",
url = "https://hdl.handle.net/21.15107/rcub_machinery_1564"
}

Vidaković, J., Kvrgić, V., Ferenc, G., Dančuo, Z.,& Lazarević, M.. (2012). Control of a human centrifuge. in 29th DANUBlA-ADRIA Symposium on Advances in Experimental Mechanics, DAS 2012
University of Belgrade., 186-189.
https://hdl.handle.net/21.15107/rcub_machinery_1564

Vidaković J, Kvrgić V, Ferenc G, Dančuo Z, Lazarević M. Control of a human centrifuge. in 29th DANUBlA-ADRIA Symposium on Advances in Experimental Mechanics, DAS 2012. 2012;:186-189.
https://hdl.handle.net/21.15107/rcub_machinery_1564 .

Vidaković, Jelena, Kvrgić, Vladimir, Ferenc, G., Dančuo, Zorana, Lazarević, Mihailo, "Control of a human centrifuge" in 29th DANUBlA-ADRIA Symposium on Advances in Experimental Mechanics, DAS 2012 (2012):186-189,
https://hdl.handle.net/21.15107/rcub_machinery_1564 .

TY  - JOUR
AU  - Dančuo, Zorana
AU  - Rašuo, Boško
AU  - Kvrgić, Vladimir
AU  - Željković, Vladimir
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1473
AB  - U ovom radu je iznet je problem izbora glavnog pogona za humanu centrifugu, počev od anvelope leta koju je potrebno simulirati. Osnovni cilj je da se naglasi složenost izbora pogona, jer je u pitanju motor velike snage. Metodologija izbora glavnog pogona centrifuge za obuku pilota, koja predstavlja manipulator sa tri stepena slobode kretanja, zasnovana je na glavnom zahtevu, da se postigne ekstremni gradijent i koeficijent opterećenja u jedinici vremena. Metodologija se sastoji u određivanju potrebnog obrtnog momenta i snage glavnog pogona centrifuge. Da bi se postigao osnovni zahtev, motor mora raditi sa preopterećenjem u datom vremenskom intervalu u početnom trenutku. Za proračune i dijagrame, program MATLAB je korišćen. U ovom radu dat je primer motora švajcarskog proizvođača ABB. Njegove karakteristike su objašnjene detaljno, u odnosu na potrebni obrtni moment i snagu glavnog pogona. Sve numeričke vrednosti u ovom radu, su deo preliminarnog proračuna.
AB  - In this paper, the issue of the main drive selection for a Human Centrifuge is explained, starting from the flight envelope that needs to be simulated. The main objective is to emphasize the complexity of choosing a drive, since it is a high power drive. The methodology for the main drive selection of a Centrifuge for pilot training, which is a manipulator with three degrees of freedom of motion, is built upon the main demand to achieve an extreme gradient and load coefficient per unit of time. The methodology consists of determining the necessary torque and power of the main drive of the Centrifuge. To achieve the main requirement, the engine has to work with an overload in a given time interval at the beginning. For calculations and diagrams, the MATLAB program was used. In this paper, an example of a motor of the Swiss manufacturer ABB is given. Its features are explained in detail, according to the needed torque and power of the main drive. All numerical values in this paper, are a part of a preliminary calculation.
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Metodologija izbora glavnog pogona za humanu centrifugu
T1  - Methodology of the main drive selection for a human centrifuge
EP  - 74
IS  - 2
SP  - 69
VL  - 40
UR  - https://hdl.handle.net/21.15107/rcub_machinery_1473
ER  - 

@article{
author = "Dančuo, Zorana and Rašuo, Boško and Kvrgić, Vladimir and Željković, Vladimir",
year = "2012",
abstract = "U ovom radu je iznet je problem izbora glavnog pogona za humanu centrifugu, počev od anvelope leta koju je potrebno simulirati. Osnovni cilj je da se naglasi složenost izbora pogona, jer je u pitanju motor velike snage. Metodologija izbora glavnog pogona centrifuge za obuku pilota, koja predstavlja manipulator sa tri stepena slobode kretanja, zasnovana je na glavnom zahtevu, da se postigne ekstremni gradijent i koeficijent opterećenja u jedinici vremena. Metodologija se sastoji u određivanju potrebnog obrtnog momenta i snage glavnog pogona centrifuge. Da bi se postigao osnovni zahtev, motor mora raditi sa preopterećenjem u datom vremenskom intervalu u početnom trenutku. Za proračune i dijagrame, program MATLAB je korišćen. U ovom radu dat je primer motora švajcarskog proizvođača ABB. Njegove karakteristike su objašnjene detaljno, u odnosu na potrebni obrtni moment i snagu glavnog pogona. Sve numeričke vrednosti u ovom radu, su deo preliminarnog proračuna., In this paper, the issue of the main drive selection for a Human Centrifuge is explained, starting from the flight envelope that needs to be simulated. The main objective is to emphasize the complexity of choosing a drive, since it is a high power drive. The methodology for the main drive selection of a Centrifuge for pilot training, which is a manipulator with three degrees of freedom of motion, is built upon the main demand to achieve an extreme gradient and load coefficient per unit of time. The methodology consists of determining the necessary torque and power of the main drive of the Centrifuge. To achieve the main requirement, the engine has to work with an overload in a given time interval at the beginning. For calculations and diagrams, the MATLAB program was used. In this paper, an example of a motor of the Swiss manufacturer ABB is given. Its features are explained in detail, according to the needed torque and power of the main drive. All numerical values in this paper, are a part of a preliminary calculation.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Metodologija izbora glavnog pogona za humanu centrifugu, Methodology of the main drive selection for a human centrifuge",
pages = "74-69",
number = "2",
volume = "40",
url = "https://hdl.handle.net/21.15107/rcub_machinery_1473"
}

Dančuo, Z., Rašuo, B., Kvrgić, V.,& Željković, V.. (2012). Metodologija izbora glavnog pogona za humanu centrifugu. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 40(2), 69-74.
https://hdl.handle.net/21.15107/rcub_machinery_1473

Dančuo Z, Rašuo B, Kvrgić V, Željković V. Metodologija izbora glavnog pogona za humanu centrifugu. in FME Transactions. 2012;40(2):69-74.
https://hdl.handle.net/21.15107/rcub_machinery_1473 .

Dančuo, Zorana, Rašuo, Boško, Kvrgić, Vladimir, Željković, Vladimir, "Metodologija izbora glavnog pogona za humanu centrifugu" in FME Transactions, 40, no. 2 (2012):69-74,
https://hdl.handle.net/21.15107/rcub_machinery_1473 .

TY  - CONF
AU  - Dančuo, Zorana
AU  - Rańuo, B.
AU  - Željković, Vladimir
AU  - Vidaković, Jelena
AU  - Kvrgić, Vladimir
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1553
PB  - University of Belgrade
C3  - 29th DANUBlA-ADRIA Symposium on Advances in Experimental Mechanics, DAS 2012
T1  - Accelerations in a high permance human centrifuge
EP  - 185
SP  - 182
UR  - https://hdl.handle.net/21.15107/rcub_machinery_1553
ER  - 

@conference{
author = "Dančuo, Zorana and Rańuo, B. and Željković, Vladimir and Vidaković, Jelena and Kvrgić, Vladimir",
year = "2012",
publisher = "University of Belgrade",
journal = "29th DANUBlA-ADRIA Symposium on Advances in Experimental Mechanics, DAS 2012",
title = "Accelerations in a high permance human centrifuge",
pages = "185-182",
url = "https://hdl.handle.net/21.15107/rcub_machinery_1553"
}

Dančuo, Z., Rańuo, B., Željković, V., Vidaković, J.,& Kvrgić, V.. (2012). Accelerations in a high permance human centrifuge. in 29th DANUBlA-ADRIA Symposium on Advances in Experimental Mechanics, DAS 2012
University of Belgrade., 182-185.
https://hdl.handle.net/21.15107/rcub_machinery_1553

Dančuo Z, Rańuo B, Željković V, Vidaković J, Kvrgić V. Accelerations in a high permance human centrifuge. in 29th DANUBlA-ADRIA Symposium on Advances in Experimental Mechanics, DAS 2012. 2012;:182-185.
https://hdl.handle.net/21.15107/rcub_machinery_1553 .

Dančuo, Zorana, Rańuo, B., Željković, Vladimir, Vidaković, Jelena, Kvrgić, Vladimir, "Accelerations in a high permance human centrifuge" in 29th DANUBlA-ADRIA Symposium on Advances in Experimental Mechanics, DAS 2012 (2012):182-185,
https://hdl.handle.net/21.15107/rcub_machinery_1553 .

TY  - JOUR
AU  - Glavonjić, Miloš
AU  - Milutinović, Dragan
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Kvrgić, Vladimir
PY  - 2010
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1136
AB  - Parallel kinematic machines (PKM) are still a research-and-development topic in many laboratories although many of them, unfortunately, have no PKM at all. Therefore, the use of a desktop educational 3-axis parallel kinematic milling machine is suggested as a help in the process of acquiring basic experiences in the field of PKM. The developed desktop educational 3-axis parallel kinematic milling machine is based on a newly developed 3-DOF spatial parallel mechanism. This paper describes the structure of the machine, modeling approach, and control and programming system based on PC Linux platform with real-time extension and EMC2 (the Enhanced Machine Controller) software system.
PB  - Springer London Ltd, Artington
T2  - International Journal of Advanced Manufacturing Technology
T1  - Desktop 3-axis parallel kinematic milling machine
EP  - 60
IS  - 1-4
SP  - 51
VL  - 46
DO  - 10.1007/s00170-009-2070-3
ER  - 

@article{
author = "Glavonjić, Miloš and Milutinović, Dragan and Živanović, Saša and Dimić, Zoran and Kvrgić, Vladimir",
year = "2010",
abstract = "Parallel kinematic machines (PKM) are still a research-and-development topic in many laboratories although many of them, unfortunately, have no PKM at all. Therefore, the use of a desktop educational 3-axis parallel kinematic milling machine is suggested as a help in the process of acquiring basic experiences in the field of PKM. The developed desktop educational 3-axis parallel kinematic milling machine is based on a newly developed 3-DOF spatial parallel mechanism. This paper describes the structure of the machine, modeling approach, and control and programming system based on PC Linux platform with real-time extension and EMC2 (the Enhanced Machine Controller) software system.",
publisher = "Springer London Ltd, Artington",
journal = "International Journal of Advanced Manufacturing Technology",
title = "Desktop 3-axis parallel kinematic milling machine",
pages = "60-51",
number = "1-4",
volume = "46",
doi = "10.1007/s00170-009-2070-3"
}

Glavonjić, M., Milutinović, D., Živanović, S., Dimić, Z.,& Kvrgić, V.. (2010). Desktop 3-axis parallel kinematic milling machine. in International Journal of Advanced Manufacturing Technology
Springer London Ltd, Artington., 46(1-4), 51-60.
https://doi.org/10.1007/s00170-009-2070-3

Glavonjić M, Milutinović D, Živanović S, Dimić Z, Kvrgić V. Desktop 3-axis parallel kinematic milling machine. in International Journal of Advanced Manufacturing Technology. 2010;46(1-4):51-60.
doi:10.1007/s00170-009-2070-3 .

Glavonjić, Miloš, Milutinović, Dragan, Živanović, Saša, Dimić, Zoran, Kvrgić, Vladimir, "Desktop 3-axis parallel kinematic milling machine" in International Journal of Advanced Manufacturing Technology, 46, no. 1-4 (2010):51-60,
https://doi.org/10.1007/s00170-009-2070-3 . .

TY  - CONF
AU  - Dimić, Zoran
AU  - Kvrgić, Vladimir
AU  - Živanović, Saša
AU  - Krošnjar, Aleksa
PY  - 2009
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6456
AB  - Do pre desetak godina CNC kao specijalizovan računarski sistem je bio neprikosnoven industrijski računar za upravljanje mašinama alatkama. Otvorena PC arhitektura dizajnirana za industrijske aplikacije polako i vrlo temeljno potiskuje specijalizovane CNC sisteme sa tržišta. Iako se veliki proizvođači CNC sistema bore da održe korak i ulažu velika sredstva u razvoj, arhitektura i performanse, a posebno cena, prosečnog industrijskog PC-a nema konkurencijy. To je razlog što se sve više ljudi u svetu okreće razvoju softverski orijentisanih CNC sistema, za šta se kao osnova koristi PC platforma i Linux operativni sistem sa real-time ekstenzijom. Dakle, PC kao osnova, odgovarajuće PC interfejs kartice i softverski orijentisani CNC čine tri glavne celine upravljačke jedinice otvorene arhitekture (OAC - Open architecture control), na svetskom tržištu.
AB  - Up to 10 years ago, CNC as specialized computer system was the only industrial computer for machine tools control. Open PC architecture designed for industrial applications easily and very thoroughly suppresses specialized CNC systems from market. Although huge manufacturers of CNC systems invest in development, architecture and performances, and especially price of average PC has no competition. This is the main reason that more and more people turns to development of software oriented CNC systems which, as a basis, use PC platform and Linux OS with real-time extension. Hence, PC as basis, corresponding PC interface cards and software oriented CNC make three main entities of open architecture control unit (OAC - Open architecture control) in world market.
PB  - Belgrade : Faculty of Mechanical Engineering
C3  - 33. Savetovanje proizvodnog mašinstva SRBIJE 2009 sa međunarodnim učešćem, Zbornik radova
T1  - Koncept upravljanja petoosnog vertikalnog strugarskog obradnog centra upravljačkim sistemom otvorene arhitekture
T1  - Concept of 5-axes vertical turning machining center control using open architecture control system
EP  - 198
SP  - 195
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6456
ER  - 

@conference{
author = "Dimić, Zoran and Kvrgić, Vladimir and Živanović, Saša and Krošnjar, Aleksa",
year = "2009",
abstract = "Do pre desetak godina CNC kao specijalizovan računarski sistem je bio neprikosnoven industrijski računar za upravljanje mašinama alatkama. Otvorena PC arhitektura dizajnirana za industrijske aplikacije polako i vrlo temeljno potiskuje specijalizovane CNC sisteme sa tržišta. Iako se veliki proizvođači CNC sistema bore da održe korak i ulažu velika sredstva u razvoj, arhitektura i performanse, a posebno cena, prosečnog industrijskog PC-a nema konkurencijy. To je razlog što se sve više ljudi u svetu okreće razvoju softverski orijentisanih CNC sistema, za šta se kao osnova koristi PC platforma i Linux operativni sistem sa real-time ekstenzijom. Dakle, PC kao osnova, odgovarajuće PC interfejs kartice i softverski orijentisani CNC čine tri glavne celine upravljačke jedinice otvorene arhitekture (OAC - Open architecture control), na svetskom tržištu., Up to 10 years ago, CNC as specialized computer system was the only industrial computer for machine tools control. Open PC architecture designed for industrial applications easily and very thoroughly suppresses specialized CNC systems from market. Although huge manufacturers of CNC systems invest in development, architecture and performances, and especially price of average PC has no competition. This is the main reason that more and more people turns to development of software oriented CNC systems which, as a basis, use PC platform and Linux OS with real-time extension. Hence, PC as basis, corresponding PC interface cards and software oriented CNC make three main entities of open architecture control unit (OAC - Open architecture control) in world market.",
publisher = "Belgrade : Faculty of Mechanical Engineering",
journal = "33. Savetovanje proizvodnog mašinstva SRBIJE 2009 sa međunarodnim učešćem, Zbornik radova",
title = "Koncept upravljanja petoosnog vertikalnog strugarskog obradnog centra upravljačkim sistemom otvorene arhitekture, Concept of 5-axes vertical turning machining center control using open architecture control system",
pages = "198-195",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6456"
}

Dimić, Z., Kvrgić, V., Živanović, S.,& Krošnjar, A.. (2009). Koncept upravljanja petoosnog vertikalnog strugarskog obradnog centra upravljačkim sistemom otvorene arhitekture. in 33. Savetovanje proizvodnog mašinstva SRBIJE 2009 sa međunarodnim učešćem, Zbornik radova
Belgrade : Faculty of Mechanical Engineering., 195-198.
https://hdl.handle.net/21.15107/rcub_machinery_6456

Dimić Z, Kvrgić V, Živanović S, Krošnjar A. Koncept upravljanja petoosnog vertikalnog strugarskog obradnog centra upravljačkim sistemom otvorene arhitekture. in 33. Savetovanje proizvodnog mašinstva SRBIJE 2009 sa međunarodnim učešćem, Zbornik radova. 2009;:195-198.
https://hdl.handle.net/21.15107/rcub_machinery_6456 .

Dimić, Zoran, Kvrgić, Vladimir, Živanović, Saša, Krošnjar, Aleksa, "Koncept upravljanja petoosnog vertikalnog strugarskog obradnog centra upravljačkim sistemom otvorene arhitekture" in 33. Savetovanje proizvodnog mašinstva SRBIJE 2009 sa međunarodnim učešćem, Zbornik radova (2009):195-198,
https://hdl.handle.net/21.15107/rcub_machinery_6456 .

TY  - CONF
AU  - Dimić, Zoran
AU  - Živanović, Saša
AU  - Kvrgić, Vladimir
PY  - 2008
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6514
AB  - U radu će biti predstavljen način simulacije višeosnih mašina alatki u open-source softverskom paketu EMC2. Kroz primer vertikalnog strugarskog obradnog centra i šestoosnog robota, biće prikazan način integrisanja funkcija indirektne i direktne kinematike, način modelovanja komponenti mašine alatke u Python okruženju EMC2, njihovo povezivanje u celinu mašine i animacija u funkciji NC programa obrade.
AB  - The paper presents simulation procedure of multi axis machine tools in open-source software system EMC2. Simulation results are given on the example of vertical turning machining center and 6-dof robot, using Python programming language.
PB  - Novi Sad : Faculty of Technical Sciences
C3  - XXXII Savetovanje proizvodnog mašinstva sa međunarodnim učešćem, Zbornik radova
T1  - Konfigurisanje EMC2 za programiranje i simulaciju višeosnih mašina alatki u Python virtuelnom grafičkom okruženju
T1  - Configuring EMC2 for programming and simulation multi axis machine tools in python virtual environment
EP  - 356
SP  - 353
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6514
ER  - 

@conference{
author = "Dimić, Zoran and Živanović, Saša and Kvrgić, Vladimir",
year = "2008",
abstract = "U radu će biti predstavljen način simulacije višeosnih mašina alatki u open-source softverskom paketu EMC2. Kroz primer vertikalnog strugarskog obradnog centra i šestoosnog robota, biće prikazan način integrisanja funkcija indirektne i direktne kinematike, način modelovanja komponenti mašine alatke u Python okruženju EMC2, njihovo povezivanje u celinu mašine i animacija u funkciji NC programa obrade., The paper presents simulation procedure of multi axis machine tools in open-source software system EMC2. Simulation results are given on the example of vertical turning machining center and 6-dof robot, using Python programming language.",
publisher = "Novi Sad : Faculty of Technical Sciences",
journal = "XXXII Savetovanje proizvodnog mašinstva sa međunarodnim učešćem, Zbornik radova",
title = "Konfigurisanje EMC2 za programiranje i simulaciju višeosnih mašina alatki u Python virtuelnom grafičkom okruženju, Configuring EMC2 for programming and simulation multi axis machine tools in python virtual environment",
pages = "356-353",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6514"
}

Dimić, Z., Živanović, S.,& Kvrgić, V.. (2008). Konfigurisanje EMC2 za programiranje i simulaciju višeosnih mašina alatki u Python virtuelnom grafičkom okruženju. in XXXII Savetovanje proizvodnog mašinstva sa međunarodnim učešćem, Zbornik radova
Novi Sad : Faculty of Technical Sciences., 353-356.
https://hdl.handle.net/21.15107/rcub_machinery_6514

Dimić Z, Živanović S, Kvrgić V. Konfigurisanje EMC2 za programiranje i simulaciju višeosnih mašina alatki u Python virtuelnom grafičkom okruženju. in XXXII Savetovanje proizvodnog mašinstva sa međunarodnim učešćem, Zbornik radova. 2008;:353-356.
https://hdl.handle.net/21.15107/rcub_machinery_6514 .

Dimić, Zoran, Živanović, Saša, Kvrgić, Vladimir, "Konfigurisanje EMC2 za programiranje i simulaciju višeosnih mašina alatki u Python virtuelnom grafičkom okruženju" in XXXII Savetovanje proizvodnog mašinstva sa međunarodnim učešćem, Zbornik radova (2008):353-356,
https://hdl.handle.net/21.15107/rcub_machinery_6514 .