TY  - JOUR
AU  - Slavković, Nikola
AU  - Živanović, Saša
AU  - Milutinović, Dragan
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3148
AB  - STEP-NC is the next generation of data models between CAD/CAM and CNC systems and it aims at providing a digital thread for CNC manufacturing. After more than a decade of investigation, the STEP-NC technology is still underdeveloped. As the industrial robots are getting more and more capable of taking on machining operations, it is necessary to couple the robot for machining towards new STEP-NC standards. The paper presents an indirect method of industrial robot programming for machining tasks by applying standard ISO 10303-238. A methodology has been established to enable programming and simulation of industrial robots for machining, where information on the machining project is saved at a high information level in the STEP-NC format, which can be readily exchanged between different users for machining, either on machine tools or robots for machining. The methodology also includes the developed robot language converter for STEP-NC programme translation to robot programming language for machining tasks. Developed programming method verification has been performed by simulation in STEP-NC Machine environment using configured virtual robot and after that through several real experiments of drawing the toolpath in 3-axis machining tasks on available vertical articulated robot.
PB  - Taylor & Francis Ltd, Abingdon
T2  - International Journal of Computer Integrated Manufacturing
T1  - An indirect method of industrial robot programming for machining tasks based on STEP-NC
EP  - 57
IS  - 1
SP  - 43
VL  - 32
DO  - 10.1080/0951192X.2018.1543952
ER  - 

@article{
author = "Slavković, Nikola and Živanović, Saša and Milutinović, Dragan",
year = "2019",
abstract = "STEP-NC is the next generation of data models between CAD/CAM and CNC systems and it aims at providing a digital thread for CNC manufacturing. After more than a decade of investigation, the STEP-NC technology is still underdeveloped. As the industrial robots are getting more and more capable of taking on machining operations, it is necessary to couple the robot for machining towards new STEP-NC standards. The paper presents an indirect method of industrial robot programming for machining tasks by applying standard ISO 10303-238. A methodology has been established to enable programming and simulation of industrial robots for machining, where information on the machining project is saved at a high information level in the STEP-NC format, which can be readily exchanged between different users for machining, either on machine tools or robots for machining. The methodology also includes the developed robot language converter for STEP-NC programme translation to robot programming language for machining tasks. Developed programming method verification has been performed by simulation in STEP-NC Machine environment using configured virtual robot and after that through several real experiments of drawing the toolpath in 3-axis machining tasks on available vertical articulated robot.",
publisher = "Taylor & Francis Ltd, Abingdon",
journal = "International Journal of Computer Integrated Manufacturing",
title = "An indirect method of industrial robot programming for machining tasks based on STEP-NC",
pages = "57-43",
number = "1",
volume = "32",
doi = "10.1080/0951192X.2018.1543952"
}

Slavković, N., Živanović, S.,& Milutinović, D.. (2019). An indirect method of industrial robot programming for machining tasks based on STEP-NC. in International Journal of Computer Integrated Manufacturing
Taylor & Francis Ltd, Abingdon., 32(1), 43-57.
https://doi.org/10.1080/0951192X.2018.1543952

Slavković N, Živanović S, Milutinović D. An indirect method of industrial robot programming for machining tasks based on STEP-NC. in International Journal of Computer Integrated Manufacturing. 2019;32(1):43-57.
doi:10.1080/0951192X.2018.1543952 .

Slavković, Nikola, Živanović, Saša, Milutinović, Dragan, "An indirect method of industrial robot programming for machining tasks based on STEP-NC" in International Journal of Computer Integrated Manufacturing, 32, no. 1 (2019):43-57,
https://doi.org/10.1080/0951192X.2018.1543952 . .

TY  - CONF
AU  - Dimić, Zoran
AU  - Milutinović, Dragan
AU  - Živanović, Saša
AU  - Mitrović, Stefan
AU  - Kvrgić, Vladimir
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4823
AB  - U radu je prikazan metod konfigurisanja/rekonfigurisanja upravlјačkog sistema otvorene arhitekture
rekonfigurabilnih robotskih ćelija za obradu. Na primeru rekonfigurabilnog upravlјačkog sistema koji je razvijen primenom softverskih alata i tehnologija otvorene arhitekture, posredstvom dijagrama za modelovanje dinamičkih procesa definisane su aktivnosti sistem-integratora/korisnika u toku konfigurisanja/rekonfigurisanja upravlјačkog sistema, a uspostavlјene su i relacije između softverskih i hardverskih komponenata upravlјanja.
AB  - A method for configuration/reconfiguration of an open-architecture control system of reconfigurable robotic machining cells is given. By utilizing dynamic process modelling diagrams, activities of systems integrator/user regarding control system configuration/reconfiguration shall be presented by the example of open-architecture control software, altogether with established relations between hardware and software components of a given control system.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - 41. JUPITER konferenencija, 37. simpozijum NU-Roboti-FTS, Zbornik radova
T1  - Metod konfigurisanјa upravljačkog sistema otvorene arhitekture rekonfigurabilne robotske ćelije za obradu
T1  - A Configuration Method for Open Architecture Control System ff Reconfigurable Robotic Machining Cells
EP  - 3.7
SP  - 3.1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4823
ER  - 

@conference{
author = "Dimić, Zoran and Milutinović, Dragan and Živanović, Saša and Mitrović, Stefan and Kvrgić, Vladimir",
year = "2018",
abstract = "U radu je prikazan metod konfigurisanja/rekonfigurisanja upravlјačkog sistema otvorene arhitekture
rekonfigurabilnih robotskih ćelija za obradu. Na primeru rekonfigurabilnog upravlјačkog sistema koji je razvijen primenom softverskih alata i tehnologija otvorene arhitekture, posredstvom dijagrama za modelovanje dinamičkih procesa definisane su aktivnosti sistem-integratora/korisnika u toku konfigurisanja/rekonfigurisanja upravlјačkog sistema, a uspostavlјene su i relacije između softverskih i hardverskih komponenata upravlјanja., A method for configuration/reconfiguration of an open-architecture control system of reconfigurable robotic machining cells is given. By utilizing dynamic process modelling diagrams, activities of systems integrator/user regarding control system configuration/reconfiguration shall be presented by the example of open-architecture control software, altogether with established relations between hardware and software components of a given control system.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "41. JUPITER konferenencija, 37. simpozijum NU-Roboti-FTS, Zbornik radova",
title = "Metod konfigurisanјa upravljačkog sistema otvorene arhitekture rekonfigurabilne robotske ćelije za obradu, A Configuration Method for Open Architecture Control System ff Reconfigurable Robotic Machining Cells",
pages = "3.7-3.1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4823"
}

Dimić, Z., Milutinović, D., Živanović, S., Mitrović, S.,& Kvrgić, V.. (2018). Metod konfigurisanјa upravljačkog sistema otvorene arhitekture rekonfigurabilne robotske ćelije za obradu. in 41. JUPITER konferenencija, 37. simpozijum NU-Roboti-FTS, Zbornik radova
Univerzitet u Beogradu, Mašinski fakultet., 3.1-3.7.
https://hdl.handle.net/21.15107/rcub_machinery_4823

Dimić Z, Milutinović D, Živanović S, Mitrović S, Kvrgić V. Metod konfigurisanјa upravljačkog sistema otvorene arhitekture rekonfigurabilne robotske ćelije za obradu. in 41. JUPITER konferenencija, 37. simpozijum NU-Roboti-FTS, Zbornik radova. 2018;:3.1-3.7.
https://hdl.handle.net/21.15107/rcub_machinery_4823 .

Dimić, Zoran, Milutinović, Dragan, Živanović, Saša, Mitrović, Stefan, Kvrgić, Vladimir, "Metod konfigurisanјa upravljačkog sistema otvorene arhitekture rekonfigurabilne robotske ćelije za obradu" in 41. JUPITER konferenencija, 37. simpozijum NU-Roboti-FTS, Zbornik radova (2018):3.1-3.7,
https://hdl.handle.net/21.15107/rcub_machinery_4823 .

TY  - CONF
AU  - Dimić, Zoran
AU  - Milutinović, Dragan
AU  - Živanović, Saša
AU  - Mitrović, Stefan
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4822
AB  - The paper presents research and development results of control and programming system of
parallel kinematic machine (PKM). The control system is based on G-code and two separate units: a realtime control system and an off-line system for G-code writing and editing, checking programme syntax and semantics and discovering and avoiding singular positions by simulating the machining programme in accordance with machine tool kinematics.
PB  - University of Kragujevac, Faculty of Engineering
C3  - Proceedings of the 37th International Conference on Production Engineering of Serbia, ICPE-S 2018
T1  - Control and programming system of parallel kinematic machine
EP  - 59
SP  - 50
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4822
ER  - 

@conference{
author = "Dimić, Zoran and Milutinović, Dragan and Živanović, Saša and Mitrović, Stefan",
year = "2018",
abstract = "The paper presents research and development results of control and programming system of
parallel kinematic machine (PKM). The control system is based on G-code and two separate units: a realtime control system and an off-line system for G-code writing and editing, checking programme syntax and semantics and discovering and avoiding singular positions by simulating the machining programme in accordance with machine tool kinematics.",
publisher = "University of Kragujevac, Faculty of Engineering",
journal = "Proceedings of the 37th International Conference on Production Engineering of Serbia, ICPE-S 2018",
title = "Control and programming system of parallel kinematic machine",
pages = "59-50",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4822"
}

Dimić, Z., Milutinović, D., Živanović, S.,& Mitrović, S.. (2018). Control and programming system of parallel kinematic machine. in Proceedings of the 37th International Conference on Production Engineering of Serbia, ICPE-S 2018
University of Kragujevac, Faculty of Engineering., 50-59.
https://hdl.handle.net/21.15107/rcub_machinery_4822

Dimić Z, Milutinović D, Živanović S, Mitrović S. Control and programming system of parallel kinematic machine. in Proceedings of the 37th International Conference on Production Engineering of Serbia, ICPE-S 2018. 2018;:50-59.
https://hdl.handle.net/21.15107/rcub_machinery_4822 .

Dimić, Zoran, Milutinović, Dragan, Živanović, Saša, Mitrović, Stefan, "Control and programming system of parallel kinematic machine" in Proceedings of the 37th International Conference on Production Engineering of Serbia, ICPE-S 2018 (2018):50-59,
https://hdl.handle.net/21.15107/rcub_machinery_4822 .

TY  - JOUR
AU  - Živanović, Saša
AU  - Slavković, Nikola
AU  - Milutinović, Dragan
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2906
AB  - This paper presents an approach for applying new machining standard ISO 10303-238 in machining operations by using industrial robots. The methodology developed according to this standard is proposed for executing programming, simulation and machining by industrial robots. A detailed description is given of a developed RoboSTEP-NC module which, being part of established methodology, translates the program according to ISO 10303-238 for 3-axis machining into a robot programming language. Programming verification has been realized, first, by simulation on virtual robots configured in STEP-NC Machine environment, and thereafter also by machining on a real available robot after translating machining program by applying the developed RoboSTEP-NC module.
PB  - Pergamon-Elsevier Science Ltd, Oxford
T2  - Robotics and Computer-Integrated Manufacturing
T1  - An approach for applying STEP-NC in robot machining
EP  - 373
SP  - 361
VL  - 49
DO  - 10.1016/j.rcim.2017.08.009
ER  - 

@article{
author = "Živanović, Saša and Slavković, Nikola and Milutinović, Dragan",
year = "2018",
abstract = "This paper presents an approach for applying new machining standard ISO 10303-238 in machining operations by using industrial robots. The methodology developed according to this standard is proposed for executing programming, simulation and machining by industrial robots. A detailed description is given of a developed RoboSTEP-NC module which, being part of established methodology, translates the program according to ISO 10303-238 for 3-axis machining into a robot programming language. Programming verification has been realized, first, by simulation on virtual robots configured in STEP-NC Machine environment, and thereafter also by machining on a real available robot after translating machining program by applying the developed RoboSTEP-NC module.",
publisher = "Pergamon-Elsevier Science Ltd, Oxford",
journal = "Robotics and Computer-Integrated Manufacturing",
title = "An approach for applying STEP-NC in robot machining",
pages = "373-361",
volume = "49",
doi = "10.1016/j.rcim.2017.08.009"
}

Živanović, S., Slavković, N.,& Milutinović, D.. (2018). An approach for applying STEP-NC in robot machining. in Robotics and Computer-Integrated Manufacturing
Pergamon-Elsevier Science Ltd, Oxford., 49, 361-373.
https://doi.org/10.1016/j.rcim.2017.08.009

Živanović S, Slavković N, Milutinović D. An approach for applying STEP-NC in robot machining. in Robotics and Computer-Integrated Manufacturing. 2018;49:361-373.
doi:10.1016/j.rcim.2017.08.009 .

Živanović, Saša, Slavković, Nikola, Milutinović, Dragan, "An approach for applying STEP-NC in robot machining" in Robotics and Computer-Integrated Manufacturing, 49 (2018):361-373,
https://doi.org/10.1016/j.rcim.2017.08.009 . .

TY  - CONF
AU  - Živanović, Saša
AU  - Slavković, Nikola
AU  - Milutinović, Dragan
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4731
AB  - U radu je prikazana metodologija primene novog standarda za programiranje mašina alatki, ISO 10303-238, za programiranje industrijskih robota za obradu. Prikazana metodologija obuhvata programiranje i simulaciju industrijskih robota u zadacima obrade robotima. U okviru metodologije je razvijen i translator jezika koji prevodi STEP-NC program u odgovarajući jezik za programiranje industrijskih robota za slučaj 3-osne obrade. Verifikacija razvijene metodologije je izvršena prvo, kroz simulacije na virtuelnim robotima konfigurisanim u STEP-NC Machine softveru, a potom i eksperimentalno na raspoloživim robotima.
PB  - Univerzitet u Beogradu, Mašinski fakultet, Katedra za proizvodno mašinstvo
C3  - Zbornik radova - 41. JUPITER konferenencija, 37. simpozijum NU-Roboti-FTS
T1  - Metodologija programiranja robota za obradu na bazi STEP-NC protokola
EP  - 3.67
SP  - 3.60
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4731
ER  - 

@conference{
author = "Živanović, Saša and Slavković, Nikola and Milutinović, Dragan",
year = "2018",
abstract = "U radu je prikazana metodologija primene novog standarda za programiranje mašina alatki, ISO 10303-238, za programiranje industrijskih robota za obradu. Prikazana metodologija obuhvata programiranje i simulaciju industrijskih robota u zadacima obrade robotima. U okviru metodologije je razvijen i translator jezika koji prevodi STEP-NC program u odgovarajući jezik za programiranje industrijskih robota za slučaj 3-osne obrade. Verifikacija razvijene metodologije je izvršena prvo, kroz simulacije na virtuelnim robotima konfigurisanim u STEP-NC Machine softveru, a potom i eksperimentalno na raspoloživim robotima.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet, Katedra za proizvodno mašinstvo",
journal = "Zbornik radova - 41. JUPITER konferenencija, 37. simpozijum NU-Roboti-FTS",
title = "Metodologija programiranja robota za obradu na bazi STEP-NC protokola",
pages = "3.67-3.60",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4731"
}

Živanović, S., Slavković, N.,& Milutinović, D.. (2018). Metodologija programiranja robota za obradu na bazi STEP-NC protokola. in Zbornik radova - 41. JUPITER konferenencija, 37. simpozijum NU-Roboti-FTS
Univerzitet u Beogradu, Mašinski fakultet, Katedra za proizvodno mašinstvo., 3.60-3.67.
https://hdl.handle.net/21.15107/rcub_machinery_4731

Živanović S, Slavković N, Milutinović D. Metodologija programiranja robota za obradu na bazi STEP-NC protokola. in Zbornik radova - 41. JUPITER konferenencija, 37. simpozijum NU-Roboti-FTS. 2018;:3.60-3.67.
https://hdl.handle.net/21.15107/rcub_machinery_4731 .

Živanović, Saša, Slavković, Nikola, Milutinović, Dragan, "Metodologija programiranja robota za obradu na bazi STEP-NC protokola" in Zbornik radova - 41. JUPITER konferenencija, 37. simpozijum NU-Roboti-FTS (2018):3.60-3.67,
https://hdl.handle.net/21.15107/rcub_machinery_4731 .

TY  - CONF
AU  - Živanović, Saša
AU  - Slavković, Nikola
AU  - Dimić, Zoran
AU  - Vasilić, Goran
AU  - Puzović, Radovan
AU  - Milutinović, Dragan
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4729
AB  - This paper presents an approach for applying new programming method based on STEP-NC standard in machining operations by using different CNC machine tools and robots for machining. The paper discusses about programming and simulation using configured virtual machines or robots for machining and software STEP-NC Machine. Programming verification has been realized by simulation in STEP-NC Machine using configured virtual CNC machine tools and robots for machining through several examples.
PB  - Aristoteles University of Thessaloniki
C3  - Proceedings of 6th International Conference on Manufacturing Engineering ICMEN 2017
T1  - Virtual machine tools and robots for machining simulation based on STEP-NC program
EP  - 51
SP  - 41
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4729
ER  - 

@conference{
author = "Živanović, Saša and Slavković, Nikola and Dimić, Zoran and Vasilić, Goran and Puzović, Radovan and Milutinović, Dragan",
year = "2017",
abstract = "This paper presents an approach for applying new programming method based on STEP-NC standard in machining operations by using different CNC machine tools and robots for machining. The paper discusses about programming and simulation using configured virtual machines or robots for machining and software STEP-NC Machine. Programming verification has been realized by simulation in STEP-NC Machine using configured virtual CNC machine tools and robots for machining through several examples.",
publisher = "Aristoteles University of Thessaloniki",
journal = "Proceedings of 6th International Conference on Manufacturing Engineering ICMEN 2017",
title = "Virtual machine tools and robots for machining simulation based on STEP-NC program",
pages = "51-41",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4729"
}

Živanović, S., Slavković, N., Dimić, Z., Vasilić, G., Puzović, R.,& Milutinović, D.. (2017). Virtual machine tools and robots for machining simulation based on STEP-NC program. in Proceedings of 6th International Conference on Manufacturing Engineering ICMEN 2017
Aristoteles University of Thessaloniki., 41-51.
https://hdl.handle.net/21.15107/rcub_machinery_4729

Živanović S, Slavković N, Dimić Z, Vasilić G, Puzović R, Milutinović D. Virtual machine tools and robots for machining simulation based on STEP-NC program. in Proceedings of 6th International Conference on Manufacturing Engineering ICMEN 2017. 2017;:41-51.
https://hdl.handle.net/21.15107/rcub_machinery_4729 .

Živanović, Saša, Slavković, Nikola, Dimić, Zoran, Vasilić, Goran, Puzović, Radovan, Milutinović, Dragan, "Virtual machine tools and robots for machining simulation based on STEP-NC program" in Proceedings of 6th International Conference on Manufacturing Engineering ICMEN 2017 (2017):41-51,
https://hdl.handle.net/21.15107/rcub_machinery_4729 .

TY  - CONF
AU  - Živanović, Saša
AU  - Slavković, Nikola
AU  - Milutinović, Dragan
AU  - Dimić, Zoran
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4726
AB  - This paper presents a part of research results obtained during the configuring of 5-axis hybrid kinematic milling machine tool. This machine tool configuration consists of 3-axis developed parallel mechanism and 2-axis serial mechanism that is placed on platform of parallel mechanism. Using realized mini-laboratory and desktop 3-axis PKMM (parallel kinematic milling machine) pn101_st research is continued aiming to develop 5-axis HKMM (hybrid kinematic milling machine). Configured 5-axis hybrid kinematic milling machine has been verified by successful making of the virtual machine with control and programming system. The paper describes the structure of the hybrid kinematic milling machine, configured virtual prototype and control and programming system based on PC real-time Linux CNC platform.
PB  - University of Banjaluka, Faculty of Mechanical Engineering
C3  - Proceedings of the 13th International Conference on Accomplisments in Electrical and Mechanical Engineering and Information Technology DEMI 2017
T1  - Configuring of virtual 5-axis hybrid kinematic milling machine
EP  - 36
SP  - 29
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4726
ER  - 

@conference{
author = "Živanović, Saša and Slavković, Nikola and Milutinović, Dragan and Dimić, Zoran",
year = "2017",
abstract = "This paper presents a part of research results obtained during the configuring of 5-axis hybrid kinematic milling machine tool. This machine tool configuration consists of 3-axis developed parallel mechanism and 2-axis serial mechanism that is placed on platform of parallel mechanism. Using realized mini-laboratory and desktop 3-axis PKMM (parallel kinematic milling machine) pn101_st research is continued aiming to develop 5-axis HKMM (hybrid kinematic milling machine). Configured 5-axis hybrid kinematic milling machine has been verified by successful making of the virtual machine with control and programming system. The paper describes the structure of the hybrid kinematic milling machine, configured virtual prototype and control and programming system based on PC real-time Linux CNC platform.",
publisher = "University of Banjaluka, Faculty of Mechanical Engineering",
journal = "Proceedings of the 13th International Conference on Accomplisments in Electrical and Mechanical Engineering and Information Technology DEMI 2017",
title = "Configuring of virtual 5-axis hybrid kinematic milling machine",
pages = "36-29",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4726"
}

Živanović, S., Slavković, N., Milutinović, D.,& Dimić, Z.. (2017). Configuring of virtual 5-axis hybrid kinematic milling machine. in Proceedings of the 13th International Conference on Accomplisments in Electrical and Mechanical Engineering and Information Technology DEMI 2017
University of Banjaluka, Faculty of Mechanical Engineering., 29-36.
https://hdl.handle.net/21.15107/rcub_machinery_4726

Živanović S, Slavković N, Milutinović D, Dimić Z. Configuring of virtual 5-axis hybrid kinematic milling machine. in Proceedings of the 13th International Conference on Accomplisments in Electrical and Mechanical Engineering and Information Technology DEMI 2017. 2017;:29-36.
https://hdl.handle.net/21.15107/rcub_machinery_4726 .

Živanović, Saša, Slavković, Nikola, Milutinović, Dragan, Dimić, Zoran, "Configuring of virtual 5-axis hybrid kinematic milling machine" in Proceedings of the 13th International Conference on Accomplisments in Electrical and Mechanical Engineering and Information Technology DEMI 2017 (2017):29-36,
https://hdl.handle.net/21.15107/rcub_machinery_4726 .

TY  - JOUR
AU  - Živanović, Saša
AU  - Slavković, Nikola
AU  - Kokotović, Branko
AU  - Milutinović, Dragan
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4740
AB  - This paper presents configuring of a virtual reconfigurable 5-axis machine tool for the purpose of realizing the simulation of the machine according to the running program. Machining simulation is realized in the CAD/CAM environment, when the machine works according to the CL files based running program, and in the STEP-NC Machine environment, when the machine works according to the STEP-NC format based running program. In this way, a possibility of program verification for the machine is obtained, which includes a complete virtual model of the machine configured with the corresponding kinematic relations. Verification of the virtual machine, in both environments, has been done by simulations of machining several test workpieces based on the running program.
PB  - Faculty of Engineering Hunedoara
T2  - Annals of Faculty Engineering Hunedoara, International Journal of Engineering
T1  - Machining simulation of virtual reconfigurable 5 axis machine tool
EP  - 194
IS  - 2
SP  - 189
VL  - XV
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4740
ER  - 

@article{
author = "Živanović, Saša and Slavković, Nikola and Kokotović, Branko and Milutinović, Dragan",
year = "2017",
abstract = "This paper presents configuring of a virtual reconfigurable 5-axis machine tool for the purpose of realizing the simulation of the machine according to the running program. Machining simulation is realized in the CAD/CAM environment, when the machine works according to the CL files based running program, and in the STEP-NC Machine environment, when the machine works according to the STEP-NC format based running program. In this way, a possibility of program verification for the machine is obtained, which includes a complete virtual model of the machine configured with the corresponding kinematic relations. Verification of the virtual machine, in both environments, has been done by simulations of machining several test workpieces based on the running program.",
publisher = "Faculty of Engineering Hunedoara",
journal = "Annals of Faculty Engineering Hunedoara, International Journal of Engineering",
title = "Machining simulation of virtual reconfigurable 5 axis machine tool",
pages = "194-189",
number = "2",
volume = "XV",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4740"
}

Živanović, S., Slavković, N., Kokotović, B.,& Milutinović, D.. (2017). Machining simulation of virtual reconfigurable 5 axis machine tool. in Annals of Faculty Engineering Hunedoara, International Journal of Engineering
Faculty of Engineering Hunedoara., XV(2), 189-194.
https://hdl.handle.net/21.15107/rcub_machinery_4740

Živanović S, Slavković N, Kokotović B, Milutinović D. Machining simulation of virtual reconfigurable 5 axis machine tool. in Annals of Faculty Engineering Hunedoara, International Journal of Engineering. 2017;XV(2):189-194.
https://hdl.handle.net/21.15107/rcub_machinery_4740 .

Živanović, Saša, Slavković, Nikola, Kokotović, Branko, Milutinović, Dragan, "Machining simulation of virtual reconfigurable 5 axis machine tool" in Annals of Faculty Engineering Hunedoara, International Journal of Engineering, XV, no. 2 (2017):189-194,
https://hdl.handle.net/21.15107/rcub_machinery_4740 .

TY  - CONF
AU  - Milutinović, Milan
AU  - Slavković, Nikola
AU  - Kokotović, Branko
AU  - Milutinović, Dragan
AU  - Živanović, Saša
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4728
AB  - In order to develop reconfigurable system for configuring and reconfiguring 3-4 DOF parallel robots and small 3-axis machine tools with rotary or translatory actuated joints, the generalized modelling approach is discussed. The results of a study on generalization of modelling approach without any use of non-actuated variables has been detailed reported in this paper.
PB  - Aristoteles University of Thessaloniki
C3  - Proceedings of the 6th International Conference on Manufacturing Engineering ICMEN 2017
T1  - Generalized kinematic modelling approach for reconfigurable parallel robots and machine tools based on delta concept
EP  - 40
SP  - 31
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4728
ER  - 

@conference{
author = "Milutinović, Milan and Slavković, Nikola and Kokotović, Branko and Milutinović, Dragan and Živanović, Saša",
year = "2017",
abstract = "In order to develop reconfigurable system for configuring and reconfiguring 3-4 DOF parallel robots and small 3-axis machine tools with rotary or translatory actuated joints, the generalized modelling approach is discussed. The results of a study on generalization of modelling approach without any use of non-actuated variables has been detailed reported in this paper.",
publisher = "Aristoteles University of Thessaloniki",
journal = "Proceedings of the 6th International Conference on Manufacturing Engineering ICMEN 2017",
title = "Generalized kinematic modelling approach for reconfigurable parallel robots and machine tools based on delta concept",
pages = "40-31",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4728"
}

Milutinović, M., Slavković, N., Kokotović, B., Milutinović, D.,& Živanović, S.. (2017). Generalized kinematic modelling approach for reconfigurable parallel robots and machine tools based on delta concept. in Proceedings of the 6th International Conference on Manufacturing Engineering ICMEN 2017
Aristoteles University of Thessaloniki., 31-40.
https://hdl.handle.net/21.15107/rcub_machinery_4728

Milutinović M, Slavković N, Kokotović B, Milutinović D, Živanović S. Generalized kinematic modelling approach for reconfigurable parallel robots and machine tools based on delta concept. in Proceedings of the 6th International Conference on Manufacturing Engineering ICMEN 2017. 2017;:31-40.
https://hdl.handle.net/21.15107/rcub_machinery_4728 .

Milutinović, Milan, Slavković, Nikola, Kokotović, Branko, Milutinović, Dragan, Živanović, Saša, "Generalized kinematic modelling approach for reconfigurable parallel robots and machine tools based on delta concept" in Proceedings of the 6th International Conference on Manufacturing Engineering ICMEN 2017 (2017):31-40,
https://hdl.handle.net/21.15107/rcub_machinery_4728 .

TY  - CONF
AU  - Slavković, Nikola
AU  - Živanović, Saša
AU  - Milutinović, Dragan
AU  - Kokotović, Branko
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4727
AB  - This paper presents an approach for applying new programming method based on STEP-NC standard in machining operations by using industrial robots. The paper discusses about programming and simulation of industrial robots for machining using software STEP-NC Machine. Programming verification has been realized by simulation in STEP-NC Machine using available and configured virtual robots in STEP-NC Machine environment through several examples.
PB  - University of Banjaluka, Faculty of Mechanical Engineering
C3  - Proceedings of the 13th International Conference on Accomplisments in Electrical and Mechanical Engineering and Information Technology DEMI 2017
T1  - Robot machining simulation in STEP-NC machine environment
EP  - 50
SP  - 43
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4727
ER  - 

@conference{
author = "Slavković, Nikola and Živanović, Saša and Milutinović, Dragan and Kokotović, Branko",
year = "2017",
abstract = "This paper presents an approach for applying new programming method based on STEP-NC standard in machining operations by using industrial robots. The paper discusses about programming and simulation of industrial robots for machining using software STEP-NC Machine. Programming verification has been realized by simulation in STEP-NC Machine using available and configured virtual robots in STEP-NC Machine environment through several examples.",
publisher = "University of Banjaluka, Faculty of Mechanical Engineering",
journal = "Proceedings of the 13th International Conference on Accomplisments in Electrical and Mechanical Engineering and Information Technology DEMI 2017",
title = "Robot machining simulation in STEP-NC machine environment",
pages = "50-43",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4727"
}

Slavković, N., Živanović, S., Milutinović, D.,& Kokotović, B.. (2017). Robot machining simulation in STEP-NC machine environment. in Proceedings of the 13th International Conference on Accomplisments in Electrical and Mechanical Engineering and Information Technology DEMI 2017
University of Banjaluka, Faculty of Mechanical Engineering., 43-50.
https://hdl.handle.net/21.15107/rcub_machinery_4727

Slavković N, Živanović S, Milutinović D, Kokotović B. Robot machining simulation in STEP-NC machine environment. in Proceedings of the 13th International Conference on Accomplisments in Electrical and Mechanical Engineering and Information Technology DEMI 2017. 2017;:43-50.
https://hdl.handle.net/21.15107/rcub_machinery_4727 .

Slavković, Nikola, Živanović, Saša, Milutinović, Dragan, Kokotović, Branko, "Robot machining simulation in STEP-NC machine environment" in Proceedings of the 13th International Conference on Accomplisments in Electrical and Mechanical Engineering and Information Technology DEMI 2017 (2017):43-50,
https://hdl.handle.net/21.15107/rcub_machinery_4727 .

TY  - CONF
AU  - Dimić, Zoran
AU  - Milutinović, Dragan
AU  - Živanović, Saša
AU  - Mitrović, Stefan
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5107
AB  - U radu je prikazan jedan metod konfigurisanja/rekonfigurisanja upravlјačkog sistema otvorene arhitekture rekonfigurabilnih robota za obradu. Na primeru EMC2 upravlјačkog softvera otvorene arhitekture su posredstvom dijagrama za modelovanje dinamičkih procesa definisane aktivnosti sistemintegratora/ korisnika u procesu konfigurisanja/rekonfigurisanja upravlјačkog sistema, i uspostavlјene su relacije između softverskih i hardverskih komponenata upravlјanja.
AB  - A method for configuration/reconfiguration of an open-architecture control system of a
reconfigurable machining robot is given. By utilizing dynamic process modelling diagrams, activities of systems integrator/user regarding control system configuration/reconfiguration shall be presented by the example of open-architecture control software, altogether with established relations between hardware and software components of a given control system.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS, Zbornik radova
T1  - Metod konfigurisanјa upravljačkog sistema otvorene arhitekture rekonfigurabilnog robota za obradu
T1  - A method for configuration of an open-architecture control system of a reconfigurable machining robot
EP  - 3.15
SP  - 3.12
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5107
ER  - 

@conference{
author = "Dimić, Zoran and Milutinović, Dragan and Živanović, Saša and Mitrović, Stefan",
year = "2016",
abstract = "U radu je prikazan jedan metod konfigurisanja/rekonfigurisanja upravlјačkog sistema otvorene arhitekture rekonfigurabilnih robota za obradu. Na primeru EMC2 upravlјačkog softvera otvorene arhitekture su posredstvom dijagrama za modelovanje dinamičkih procesa definisane aktivnosti sistemintegratora/ korisnika u procesu konfigurisanja/rekonfigurisanja upravlјačkog sistema, i uspostavlјene su relacije između softverskih i hardverskih komponenata upravlјanja., A method for configuration/reconfiguration of an open-architecture control system of a
reconfigurable machining robot is given. By utilizing dynamic process modelling diagrams, activities of systems integrator/user regarding control system configuration/reconfiguration shall be presented by the example of open-architecture control software, altogether with established relations between hardware and software components of a given control system.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS, Zbornik radova",
title = "Metod konfigurisanјa upravljačkog sistema otvorene arhitekture rekonfigurabilnog robota za obradu, A method for configuration of an open-architecture control system of a reconfigurable machining robot",
pages = "3.15-3.12",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5107"
}

Dimić, Z., Milutinović, D., Živanović, S.,& Mitrović, S.. (2016). Metod konfigurisanјa upravljačkog sistema otvorene arhitekture rekonfigurabilnog robota za obradu. in 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS, Zbornik radova
Univerzitet u Beogradu, Mašinski fakultet., 3.12-3.15.
https://hdl.handle.net/21.15107/rcub_machinery_5107

Dimić Z, Milutinović D, Živanović S, Mitrović S. Metod konfigurisanјa upravljačkog sistema otvorene arhitekture rekonfigurabilnog robota za obradu. in 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS, Zbornik radova. 2016;:3.12-3.15.
https://hdl.handle.net/21.15107/rcub_machinery_5107 .

Dimić, Zoran, Milutinović, Dragan, Živanović, Saša, Mitrović, Stefan, "Metod konfigurisanјa upravljačkog sistema otvorene arhitekture rekonfigurabilnog robota za obradu" in 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS, Zbornik radova (2016):3.12-3.15,
https://hdl.handle.net/21.15107/rcub_machinery_5107 .

TY  - GEN
AU  - Slavković, Nikola
AU  - Milutinović, Dragan
AU  - Živanović, Saša
AU  - Kokotović, Branko
AU  - Milutinović, Milan
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4777
AB  - Како постоjећи on-line и off-line приступи компензациjе нису применљиве у реалним индустриjским условима на данашњем нивоу, то jе на основу развиjеног система управљања и програмирања робота у G-коду развиjен off-line метод компензациjе грешака изазваних силама резања коjе се могу израчунавати постоjећим моделима. Оваj метод jе базиран на модификациjи програмиране путање алата, односно на корекциjи G-кода. Развоj оваквог метода off-line компензациjе грешака обраде изазваних силама резања код робота коjи се програмираjу у G-коду ствара реалне претпоставке за њихову практичну примену. Развиjени метод не захтева улагања у софтвер, адаптациjу управљачког система и набавку сензора, а при том омогућава примену постоjећих CAD/CAM система за програмирање 5-осних машина алатки базираних на G-коду. Ово значи да jе директно применљив од стране програмера и оператера коjи имаjу искуства у CNC технологиjи и програмирању у G-коду.
T2  - Техничко решење је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер.
T1  - Метод компензације грешака изазваних силама резања при обради роботима -Техничко решење
EP  - 22
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4777
ER  - 

@misc{
author = "Slavković, Nikola and Milutinović, Dragan and Živanović, Saša and Kokotović, Branko and Milutinović, Milan",
year = "2016",
abstract = "Како постоjећи on-line и off-line приступи компензациjе нису применљиве у реалним индустриjским условима на данашњем нивоу, то jе на основу развиjеног система управљања и програмирања робота у G-коду развиjен off-line метод компензациjе грешака изазваних силама резања коjе се могу израчунавати постоjећим моделима. Оваj метод jе базиран на модификациjи програмиране путање алата, односно на корекциjи G-кода. Развоj оваквог метода off-line компензациjе грешака обраде изазваних силама резања код робота коjи се програмираjу у G-коду ствара реалне претпоставке за њихову практичну примену. Развиjени метод не захтева улагања у софтвер, адаптациjу управљачког система и набавку сензора, а при том омогућава примену постоjећих CAD/CAM система за програмирање 5-осних машина алатки базираних на G-коду. Ово значи да jе директно применљив од стране програмера и оператера коjи имаjу искуства у CNC технологиjи и програмирању у G-коду.",
journal = "Техничко решење је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер.",
title = "Метод компензације грешака изазваних силама резања при обради роботима -Техничко решење",
pages = "22-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4777"
}

Slavković, N., Milutinović, D., Živanović, S., Kokotović, B.,& Milutinović, M.. (2016). Метод компензације грешака изазваних силама резања при обради роботима -Техничко решење. in Техничко решење је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер., 1-22.
https://hdl.handle.net/21.15107/rcub_machinery_4777

Slavković N, Milutinović D, Živanović S, Kokotović B, Milutinović M. Метод компензације грешака изазваних силама резања при обради роботима -Техничко решење. in Техничко решење је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер.. 2016;:1-22.
https://hdl.handle.net/21.15107/rcub_machinery_4777 .

Slavković, Nikola, Milutinović, Dragan, Živanović, Saša, Kokotović, Branko, Milutinović, Milan, "Метод компензације грешака изазваних силама резања при обради роботима -Техничко решење" in Техничко решење је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер. (2016):1-22,
https://hdl.handle.net/21.15107/rcub_machinery_4777 .

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  - CONF
AU  - Živanović, Saša
AU  - Kokotović, Branko
AU  - Slavković, Nikola
AU  - Milutinović, Dragan
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4720
AB  - U radu su pokazane koncepcije rekonfigurabilnih mašina alatki, kao mašina sa serijskom i kao mašina sa hibridnom kiematikom. Razmatrani su metodi za njihova programiranja na bazi G koda (ISO 6983) i novog metoda programiranja na bazi STEP-NC standarda (ISO10303, ISO14649). Pripremljena su i pokazana okruženja za off-line programiranje u izabranom CAD/CAM sistemu (u G kodu) i softveru STEP-NC Machine za novi metod programiranja na bazi STEP-NC programa. Za oba okruženja su realizovani virtuelni modeli razmatranih stonih rekonfigurabilnih mašina alatki za potrebe simulacije rada mašina po zadatom programu u okruženju za programiranje.
PB  - Univerzitet u Beogradu, Mašinski fakultet, Katedra za proizvodno mašinstvo
C3  - Zbornik radova - 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS
T1  - Konfigurisanje multifunckionalnih i rekonfigurabilnih mašina alatki i metodi za njihovo programiranje i verifikaciju programa obrade
EP  - 3.62
SP  - 3.55
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4720
ER  - 

@conference{
author = "Živanović, Saša and Kokotović, Branko and Slavković, Nikola and Milutinović, Dragan",
year = "2016",
abstract = "U radu su pokazane koncepcije rekonfigurabilnih mašina alatki, kao mašina sa serijskom i kao mašina sa hibridnom kiematikom. Razmatrani su metodi za njihova programiranja na bazi G koda (ISO 6983) i novog metoda programiranja na bazi STEP-NC standarda (ISO10303, ISO14649). Pripremljena su i pokazana okruženja za off-line programiranje u izabranom CAD/CAM sistemu (u G kodu) i softveru STEP-NC Machine za novi metod programiranja na bazi STEP-NC programa. Za oba okruženja su realizovani virtuelni modeli razmatranih stonih rekonfigurabilnih mašina alatki za potrebe simulacije rada mašina po zadatom programu u okruženju za programiranje.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet, Katedra za proizvodno mašinstvo",
journal = "Zbornik radova - 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS",
title = "Konfigurisanje multifunckionalnih i rekonfigurabilnih mašina alatki i metodi za njihovo programiranje i verifikaciju programa obrade",
pages = "3.62-3.55",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4720"
}

Živanović, S., Kokotović, B., Slavković, N.,& Milutinović, D.. (2016). Konfigurisanje multifunckionalnih i rekonfigurabilnih mašina alatki i metodi za njihovo programiranje i verifikaciju programa obrade. in Zbornik radova - 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS
Univerzitet u Beogradu, Mašinski fakultet, Katedra za proizvodno mašinstvo., 3.55-3.62.
https://hdl.handle.net/21.15107/rcub_machinery_4720

Živanović S, Kokotović B, Slavković N, Milutinović D. Konfigurisanje multifunckionalnih i rekonfigurabilnih mašina alatki i metodi za njihovo programiranje i verifikaciju programa obrade. in Zbornik radova - 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS. 2016;:3.55-3.62.
https://hdl.handle.net/21.15107/rcub_machinery_4720 .

Živanović, Saša, Kokotović, Branko, Slavković, Nikola, Milutinović, Dragan, "Konfigurisanje multifunckionalnih i rekonfigurabilnih mašina alatki i metodi za njihovo programiranje i verifikaciju programa obrade" in Zbornik radova - 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS (2016):3.55-3.62,
https://hdl.handle.net/21.15107/rcub_machinery_4720 .

TY  - CONF
AU  - Slavković, Nikola
AU  - Milutinović, Dragan
AU  - Živanović, Saša
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4719
AB  - U ovom radu je prikazan deo rezultata istraživanja u oblasti razvoja rekonfigurabilnih obradnih sistema na bazi robota. U ovom radu je predstavljen razvijeni metod kompenzacije grešaka nastalih pod dejstvom sila rezanja pri obradi robotima usled statičke popustljivosti robota. Metod je verifikovan kroz nekoliko eksperimenata konturnih obrada, sa i bez kompenzacije grešaka, na test delovima od aluminijuma.
PB  - Univerzitet u Beogradu, Mašinski fakultet, Katedra za proizvodno mašinstvo
C3  - Zbornik radova - 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS
T1  - Metod kompenzacije grešaka izazvanih silama rezanje pri obradi robotima
EP  - 3.46
SP  - 3.39
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4719
ER  - 

@conference{
author = "Slavković, Nikola and Milutinović, Dragan and Živanović, Saša",
year = "2016",
abstract = "U ovom radu je prikazan deo rezultata istraživanja u oblasti razvoja rekonfigurabilnih obradnih sistema na bazi robota. U ovom radu je predstavljen razvijeni metod kompenzacije grešaka nastalih pod dejstvom sila rezanja pri obradi robotima usled statičke popustljivosti robota. Metod je verifikovan kroz nekoliko eksperimenata konturnih obrada, sa i bez kompenzacije grešaka, na test delovima od aluminijuma.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet, Katedra za proizvodno mašinstvo",
journal = "Zbornik radova - 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS",
title = "Metod kompenzacije grešaka izazvanih silama rezanje pri obradi robotima",
pages = "3.46-3.39",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4719"
}

Slavković, N., Milutinović, D.,& Živanović, S.. (2016). Metod kompenzacije grešaka izazvanih silama rezanje pri obradi robotima. in Zbornik radova - 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS
Univerzitet u Beogradu, Mašinski fakultet, Katedra za proizvodno mašinstvo., 3.39-3.46.
https://hdl.handle.net/21.15107/rcub_machinery_4719

Slavković N, Milutinović D, Živanović S. Metod kompenzacije grešaka izazvanih silama rezanje pri obradi robotima. in Zbornik radova - 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS. 2016;:3.39-3.46.
https://hdl.handle.net/21.15107/rcub_machinery_4719 .

Slavković, Nikola, Milutinović, Dragan, Živanović, Saša, "Metod kompenzacije grešaka izazvanih silama rezanje pri obradi robotima" in Zbornik radova - 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS (2016):3.39-3.46,
https://hdl.handle.net/21.15107/rcub_machinery_4719 .

TY  - CONF
AU  - Živanović, Saša
AU  - Slavković, Nikola
AU  - Kokotović, Branko
AU  - Milutinović, Dragan
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4718
AB  - U ovom radu je pokazano konfigurisanje virtuelne rekonfigurabilne petoosne mašine alatke za potrebe simulacije rada mašine po zadatom programu. Simulacija rada mašine je realizovana u CAD/CAM okruženju, kada mašina radi po zadatom programu na bazi CL fajla i u STEP-NC Machine okruženju, kada mašina radi na bazi programa u STEP-NC formatu. Na ovaj način se dobija mogućnost verifikacije programa za mašinu, koja uključuje i kompletan virtuelni model mašine koji je konfigurisan sa odgovarajućim kinematičkim vezama. Verifikacija simulacije rada mašine kada radi po zadatom programu je testirana na primerima u oba okruženja.
PB  - University of East Sarajevo, Faculty of Mechanical Engineering
C3  - Proceedings of the 3rd International Scientific Conference Conference on Mechanical Engineering Technologies and Applications COMETa 2016
T1  - Machine simulation of virtual reconfigurable 5 axis machine tool when machine working according to the running program
T1  - Simulacija virtuelne rekonfigurabilne petoosne mašine alatke kada mašina radi po zadatom programu
EP  - 214
SP  - 207
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4718
ER  - 

@conference{
author = "Živanović, Saša and Slavković, Nikola and Kokotović, Branko and Milutinović, Dragan",
year = "2016",
abstract = "U ovom radu je pokazano konfigurisanje virtuelne rekonfigurabilne petoosne mašine alatke za potrebe simulacije rada mašine po zadatom programu. Simulacija rada mašine je realizovana u CAD/CAM okruženju, kada mašina radi po zadatom programu na bazi CL fajla i u STEP-NC Machine okruženju, kada mašina radi na bazi programa u STEP-NC formatu. Na ovaj način se dobija mogućnost verifikacije programa za mašinu, koja uključuje i kompletan virtuelni model mašine koji je konfigurisan sa odgovarajućim kinematičkim vezama. Verifikacija simulacije rada mašine kada radi po zadatom programu je testirana na primerima u oba okruženja.",
publisher = "University of East Sarajevo, Faculty of Mechanical Engineering",
journal = "Proceedings of the 3rd International Scientific Conference Conference on Mechanical Engineering Technologies and Applications COMETa 2016",
title = "Machine simulation of virtual reconfigurable 5 axis machine tool when machine working according to the running program, Simulacija virtuelne rekonfigurabilne petoosne mašine alatke kada mašina radi po zadatom programu",
pages = "214-207",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4718"
}

Živanović, S., Slavković, N., Kokotović, B.,& Milutinović, D.. (2016). Machine simulation of virtual reconfigurable 5 axis machine tool when machine working according to the running program. in Proceedings of the 3rd International Scientific Conference Conference on Mechanical Engineering Technologies and Applications COMETa 2016
University of East Sarajevo, Faculty of Mechanical Engineering., 207-214.
https://hdl.handle.net/21.15107/rcub_machinery_4718

Živanović S, Slavković N, Kokotović B, Milutinović D. Machine simulation of virtual reconfigurable 5 axis machine tool when machine working according to the running program. in Proceedings of the 3rd International Scientific Conference Conference on Mechanical Engineering Technologies and Applications COMETa 2016. 2016;:207-214.
https://hdl.handle.net/21.15107/rcub_machinery_4718 .

Živanović, Saša, Slavković, Nikola, Kokotović, Branko, Milutinović, Dragan, "Machine simulation of virtual reconfigurable 5 axis machine tool when machine working according to the running program" in Proceedings of the 3rd International Scientific Conference Conference on Mechanical Engineering Technologies and Applications COMETa 2016 (2016):207-214,
https://hdl.handle.net/21.15107/rcub_machinery_4718 .

TY  - JOUR
AU  - Živanović, Saša
AU  - Milutinović, Dragan
AU  - Slavković, Nikola
AU  - Dimić, Zoran
PY  - 2015
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4738
AB  - This paper describes testing and programming methods for parallel kinematic machine based on mini laboratory and desktop 3-axis parallel kinematic milling machine (PKMM). The paper presents the IDEF0 methodology for developmentally testing of new machine tools, with an example of application of this methodology. Several test workpieces are machined in order to verify the developed control and programming system.
PB  - University of Novi Sad, Faculty of Technical Scienes, Department for Production Engineering
T2  - Journal of Production Engineering
T1  - Testing and programming mini laboratory and desktop 3-axis parallel kinematic milling machine
EP  - 46
IS  - 1
SP  - 43
VL  - 18
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4738
ER  - 

@article{
author = "Živanović, Saša and Milutinović, Dragan and Slavković, Nikola and Dimić, Zoran",
year = "2015",
abstract = "This paper describes testing and programming methods for parallel kinematic machine based on mini laboratory and desktop 3-axis parallel kinematic milling machine (PKMM). The paper presents the IDEF0 methodology for developmentally testing of new machine tools, with an example of application of this methodology. Several test workpieces are machined in order to verify the developed control and programming system.",
publisher = "University of Novi Sad, Faculty of Technical Scienes, Department for Production Engineering",
journal = "Journal of Production Engineering",
title = "Testing and programming mini laboratory and desktop 3-axis parallel kinematic milling machine",
pages = "46-43",
number = "1",
volume = "18",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4738"
}

Živanović, S., Milutinović, D., Slavković, N.,& Dimić, Z.. (2015). Testing and programming mini laboratory and desktop 3-axis parallel kinematic milling machine. in Journal of Production Engineering
University of Novi Sad, Faculty of Technical Scienes, Department for Production Engineering., 18(1), 43-46.
https://hdl.handle.net/21.15107/rcub_machinery_4738

Živanović S, Milutinović D, Slavković N, Dimić Z. Testing and programming mini laboratory and desktop 3-axis parallel kinematic milling machine. in Journal of Production Engineering. 2015;18(1):43-46.
https://hdl.handle.net/21.15107/rcub_machinery_4738 .

Živanović, Saša, Milutinović, Dragan, Slavković, Nikola, Dimić, Zoran, "Testing and programming mini laboratory and desktop 3-axis parallel kinematic milling machine" in Journal of Production Engineering, 18, no. 1 (2015):43-46,
https://hdl.handle.net/21.15107/rcub_machinery_4738 .

TY  - JOUR
AU  - Živanović, Saša
AU  - Glavonjić, Miloš
AU  - Milutinović, Dragan
PY  - 2015
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2099
AB  - Configuring new machine tools is a complex task that involves the use of a large range of conceptions, methods, models, virtual prototypes and simulations. This paper presents a methodology for configuring a new machine tool to the level of a virtual prototype by using CAD configurator Pro/WEB.Link and a top-down approach. This methodology is explained via an example of the development of a mini-laboratory and desktop 3-axis parallel kinematic milling machine (PKMM). The results are two variants of the virtual prototype and one real world prototype. The configured virtual prototypes are used for the verification of the machining program and programming system using machining simulation in the CAD/CAM environment. The mini-laboratory and desktop 3-axis PKMM has been verified by the successful machining of test workpieces.
PB  - Assoc Mechanical Engineers Technicians Slovenia, Ljubljana
T2  - Strojniski Vestnik-Journal of Mechanical Engineering
T1  - Configuring A Mini-Laboratory and Desktop 3-Axis Parallel Kinematic Milling Machine
EP  - 42
IS  - 1
SP  - 33
VL  - 61
DO  - 10.5545/sv-jme.2013.1619
ER  - 

@article{
author = "Živanović, Saša and Glavonjić, Miloš and Milutinović, Dragan",
year = "2015",
abstract = "Configuring new machine tools is a complex task that involves the use of a large range of conceptions, methods, models, virtual prototypes and simulations. This paper presents a methodology for configuring a new machine tool to the level of a virtual prototype by using CAD configurator Pro/WEB.Link and a top-down approach. This methodology is explained via an example of the development of a mini-laboratory and desktop 3-axis parallel kinematic milling machine (PKMM). The results are two variants of the virtual prototype and one real world prototype. The configured virtual prototypes are used for the verification of the machining program and programming system using machining simulation in the CAD/CAM environment. The mini-laboratory and desktop 3-axis PKMM has been verified by the successful machining of test workpieces.",
publisher = "Assoc Mechanical Engineers Technicians Slovenia, Ljubljana",
journal = "Strojniski Vestnik-Journal of Mechanical Engineering",
title = "Configuring A Mini-Laboratory and Desktop 3-Axis Parallel Kinematic Milling Machine",
pages = "42-33",
number = "1",
volume = "61",
doi = "10.5545/sv-jme.2013.1619"
}

Živanović, S., Glavonjić, M.,& Milutinović, D.. (2015). Configuring A Mini-Laboratory and Desktop 3-Axis Parallel Kinematic Milling Machine. in Strojniski Vestnik-Journal of Mechanical Engineering
Assoc Mechanical Engineers Technicians Slovenia, Ljubljana., 61(1), 33-42.
https://doi.org/10.5545/sv-jme.2013.1619

Živanović S, Glavonjić M, Milutinović D. Configuring A Mini-Laboratory and Desktop 3-Axis Parallel Kinematic Milling Machine. in Strojniski Vestnik-Journal of Mechanical Engineering. 2015;61(1):33-42.
doi:10.5545/sv-jme.2013.1619 .

Živanović, Saša, Glavonjić, Miloš, Milutinović, Dragan, "Configuring A Mini-Laboratory and Desktop 3-Axis Parallel Kinematic Milling Machine" in Strojniski Vestnik-Journal of Mechanical Engineering, 61, no. 1 (2015):33-42,
https://doi.org/10.5545/sv-jme.2013.1619 . .

TY  - CONF
AU  - Milutinović, Dragan
AU  - Živanović, Saša
AU  - Slavković, Nikola
PY  - 2015
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4714
AB  - Primena tehnologija reverznog inženjerstva i brze izrade prototipova postaju sve važnije i oblasti održavanja mašina i opreme. Česta potreba da se urgentno izradi oštećeni ili pohabani deo za neku mašinu za koju nema rezervnog dela, dokumentacije ili CAD modela, imperativno nameće potrebu za primenom reverznog inženjerstva kao efikasne i vrlo upotrebljive tehnologije koju po pravilu prati i primena tehnologije za brzu izradu funkcionalnih prototipova odnosno onih postupaka koji omogućavaju izradu delova koji su u stanju da barem privremeno obavljaju svoju funkciju. U ovom radu se ukratko razmatra uloga i značaj primene ove dve tehnologije u održavanju mašina i opreme.
PB  - Institut za istraživanja i projektovanja u privredi
C3  - Zbornik radova - XL naučno stručni skup održavanje mašine i opreme OMO 2015
T1  - Uloga i značaj reverznog inženjerstva i brze izrade prototipova u održavanju
EP  - 147
SP  - 142
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4714
ER  - 

@conference{
author = "Milutinović, Dragan and Živanović, Saša and Slavković, Nikola",
year = "2015",
abstract = "Primena tehnologija reverznog inženjerstva i brze izrade prototipova postaju sve važnije i oblasti održavanja mašina i opreme. Česta potreba da se urgentno izradi oštećeni ili pohabani deo za neku mašinu za koju nema rezervnog dela, dokumentacije ili CAD modela, imperativno nameće potrebu za primenom reverznog inženjerstva kao efikasne i vrlo upotrebljive tehnologije koju po pravilu prati i primena tehnologije za brzu izradu funkcionalnih prototipova odnosno onih postupaka koji omogućavaju izradu delova koji su u stanju da barem privremeno obavljaju svoju funkciju. U ovom radu se ukratko razmatra uloga i značaj primene ove dve tehnologije u održavanju mašina i opreme.",
publisher = "Institut za istraživanja i projektovanja u privredi",
journal = "Zbornik radova - XL naučno stručni skup održavanje mašine i opreme OMO 2015",
title = "Uloga i značaj reverznog inženjerstva i brze izrade prototipova u održavanju",
pages = "147-142",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4714"
}

Milutinović, D., Živanović, S.,& Slavković, N.. (2015). Uloga i značaj reverznog inženjerstva i brze izrade prototipova u održavanju. in Zbornik radova - XL naučno stručni skup održavanje mašine i opreme OMO 2015
Institut za istraživanja i projektovanja u privredi., 142-147.
https://hdl.handle.net/21.15107/rcub_machinery_4714

Milutinović D, Živanović S, Slavković N. Uloga i značaj reverznog inženjerstva i brze izrade prototipova u održavanju. in Zbornik radova - XL naučno stručni skup održavanje mašine i opreme OMO 2015. 2015;:142-147.
https://hdl.handle.net/21.15107/rcub_machinery_4714 .

Milutinović, Dragan, Živanović, Saša, Slavković, Nikola, "Uloga i značaj reverznog inženjerstva i brze izrade prototipova u održavanju" in Zbornik radova - XL naučno stručni skup održavanje mašine i opreme OMO 2015 (2015):142-147,
https://hdl.handle.net/21.15107/rcub_machinery_4714 .

TY  - JOUR
AU  - Živanović, Saša
AU  - Glavonjić, Miloš
AU  - Milutinović, Dragan
AU  - Slavković, Nikola
AU  - Dimić, Zoran
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1834
AB  - U ovom radu je predstavljen razvoj mini laboratorijske i edukacione stone troosne glodalice sa paralelnom kinematikom. Usvojeni su funkcionalni zahtevi i koncepcija mašine. Prikazan je opis primenjenog paralelnog mehanizma. Predstavljena je primenjena metodologija za konfigurisanje mini laboratorijske i edukacione stone troosne glodalice sa paralelnom kinematikom primenom IDEF0 dijagrama, sa detaljnom razradom aktivnosti koje se donose na realizaciju prototipa mašine. Verifikacija virtuelnog prototipa koncepcije mašine je izvršena simulacijom obrade na virtuelnoj mašini u CAD/CAM okruženju. U radu su pokazani neki od karakterističnih detalja pri realizaciji prototipa, kao i njegovog razvojnog ispitivanja.
AB  - This paper presents the development of mini laboratory and educational desktop 3 axis milling machine with parallel kinematic. Functional requirements and concept of this machine were adopted. Description of the applied parallel mechanism is shown in this paper. The presented methodology was used to configure mini laboratory and educational desktop 3 axis milling machine with parallel kinematic using IDEF0 diagrams, with detailed development activities who are made on the implementation of the prototype machine. Verification of the concept of virtual prototype is described using simulation on virtual machine in the CAD/CAM environment. The paper presents some of the most characteristic details in the implementation of the prototype, as well as his development testing.
PB  - Savez inženjera i tehničara Srbije, Beograd
T2  - Tehnika
T1  - Razvoj prototipa mini laboratorijske i edukacione stone troosne glodalice sa paralelnom kinematikom
T1  - Development of mini laboratory and educational desktop 3 axis milling machine with parallel kinematic
EP  - 445
IS  - 3
SP  - 438
VL  - 69
DO  - 10.5937/tehnika1403438Z
ER  - 

@article{
author = "Živanović, Saša and Glavonjić, Miloš and Milutinović, Dragan and Slavković, Nikola and Dimić, Zoran",
year = "2014",
abstract = "U ovom radu je predstavljen razvoj mini laboratorijske i edukacione stone troosne glodalice sa paralelnom kinematikom. Usvojeni su funkcionalni zahtevi i koncepcija mašine. Prikazan je opis primenjenog paralelnog mehanizma. Predstavljena je primenjena metodologija za konfigurisanje mini laboratorijske i edukacione stone troosne glodalice sa paralelnom kinematikom primenom IDEF0 dijagrama, sa detaljnom razradom aktivnosti koje se donose na realizaciju prototipa mašine. Verifikacija virtuelnog prototipa koncepcije mašine je izvršena simulacijom obrade na virtuelnoj mašini u CAD/CAM okruženju. U radu su pokazani neki od karakterističnih detalja pri realizaciji prototipa, kao i njegovog razvojnog ispitivanja., This paper presents the development of mini laboratory and educational desktop 3 axis milling machine with parallel kinematic. Functional requirements and concept of this machine were adopted. Description of the applied parallel mechanism is shown in this paper. The presented methodology was used to configure mini laboratory and educational desktop 3 axis milling machine with parallel kinematic using IDEF0 diagrams, with detailed development activities who are made on the implementation of the prototype machine. Verification of the concept of virtual prototype is described using simulation on virtual machine in the CAD/CAM environment. The paper presents some of the most characteristic details in the implementation of the prototype, as well as his development testing.",
publisher = "Savez inženjera i tehničara Srbije, Beograd",
journal = "Tehnika",
title = "Razvoj prototipa mini laboratorijske i edukacione stone troosne glodalice sa paralelnom kinematikom, Development of mini laboratory and educational desktop 3 axis milling machine with parallel kinematic",
pages = "445-438",
number = "3",
volume = "69",
doi = "10.5937/tehnika1403438Z"
}

Živanović, S., Glavonjić, M., Milutinović, D., Slavković, N.,& Dimić, Z.. (2014). Razvoj prototipa mini laboratorijske i edukacione stone troosne glodalice sa paralelnom kinematikom. in Tehnika
Savez inženjera i tehničara Srbije, Beograd., 69(3), 438-445.
https://doi.org/10.5937/tehnika1403438Z

Živanović S, Glavonjić M, Milutinović D, Slavković N, Dimić Z. Razvoj prototipa mini laboratorijske i edukacione stone troosne glodalice sa paralelnom kinematikom. in Tehnika. 2014;69(3):438-445.
doi:10.5937/tehnika1403438Z .

Živanović, Saša, Glavonjić, Miloš, Milutinović, Dragan, Slavković, Nikola, Dimić, Zoran, "Razvoj prototipa mini laboratorijske i edukacione stone troosne glodalice sa paralelnom kinematikom" in Tehnika, 69, no. 3 (2014):438-445,
https://doi.org/10.5937/tehnika1403438Z . .

TY  - CONF
AU  - Milutinović, Dragan
AU  - Dimić, Zoran
AU  - Živanović, Saša
AU  - Slavković, Nikola
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4712
AB  - U radu je prikazan razvijeni prototip sistema za upravljanje i programiranje 6-osnog robota za višeosnu obradu. Razvijeni sistem je baziran na generalizovanom pristupu modeliranja koji omogućava emuliranje horizontalnih i/ili vertikalnih 5-osnih mašina alatki čime se omogućava programiranje u G-kodu i korišćenj postojećih CAD/CAM sistema za višeosnu obradu. Mogućnost rekonfigurisanja odnosno emuliranja i horizontalne i vertikalne 5-osne mašine alatke u toku jednog zadatka omogućava višestranu obradu vrlo složenih delova u jednom postavljanju.
PB  - Univerzitet u Beogradu, Mašinski fakultet, Katedra za proizvodno mašinstvo
C3  - Zbornik radova - 39. JUPITER konferenencija, 35. simpozijum NU-Roboti-FTS
T1  - Upravljanje i programiranje 6-osnog robota za obradu kao horizontalne i/ili vertikalne 5-osne mašine alatke
EP  - 3.103
SP  - 3.96
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4712
ER  - 

@conference{
author = "Milutinović, Dragan and Dimić, Zoran and Živanović, Saša and Slavković, Nikola",
year = "2014",
abstract = "U radu je prikazan razvijeni prototip sistema za upravljanje i programiranje 6-osnog robota za višeosnu obradu. Razvijeni sistem je baziran na generalizovanom pristupu modeliranja koji omogućava emuliranje horizontalnih i/ili vertikalnih 5-osnih mašina alatki čime se omogućava programiranje u G-kodu i korišćenj postojećih CAD/CAM sistema za višeosnu obradu. Mogućnost rekonfigurisanja odnosno emuliranja i horizontalne i vertikalne 5-osne mašine alatke u toku jednog zadatka omogućava višestranu obradu vrlo složenih delova u jednom postavljanju.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet, Katedra za proizvodno mašinstvo",
journal = "Zbornik radova - 39. JUPITER konferenencija, 35. simpozijum NU-Roboti-FTS",
title = "Upravljanje i programiranje 6-osnog robota za obradu kao horizontalne i/ili vertikalne 5-osne mašine alatke",
pages = "3.103-3.96",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4712"
}

Milutinović, D., Dimić, Z., Živanović, S.,& Slavković, N.. (2014). Upravljanje i programiranje 6-osnog robota za obradu kao horizontalne i/ili vertikalne 5-osne mašine alatke. in Zbornik radova - 39. JUPITER konferenencija, 35. simpozijum NU-Roboti-FTS
Univerzitet u Beogradu, Mašinski fakultet, Katedra za proizvodno mašinstvo., 3.96-3.103.
https://hdl.handle.net/21.15107/rcub_machinery_4712

Milutinović D, Dimić Z, Živanović S, Slavković N. Upravljanje i programiranje 6-osnog robota za obradu kao horizontalne i/ili vertikalne 5-osne mašine alatke. in Zbornik radova - 39. JUPITER konferenencija, 35. simpozijum NU-Roboti-FTS. 2014;:3.96-3.103.
https://hdl.handle.net/21.15107/rcub_machinery_4712 .

Milutinović, Dragan, Dimić, Zoran, Živanović, Saša, Slavković, Nikola, "Upravljanje i programiranje 6-osnog robota za obradu kao horizontalne i/ili vertikalne 5-osne mašine alatke" in Zbornik radova - 39. JUPITER konferenencija, 35. simpozijum NU-Roboti-FTS (2014):3.96-3.103,
https://hdl.handle.net/21.15107/rcub_machinery_4712 .

TY  - GEN
AU  - Milutinović, Dragan
AU  - Kokotović, Branko
AU  - Slavković, Nikola
AU  - Živanović, Saša
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4774
AB  - Razvoj mehanizma sa jednim stepenom slobode na bazi ravanskog zglobnog paralelograma je imao za ciq rešenje problema pogona ravanskog zglobnog paralelograma kao kinematičkog ekvivalenta obrtnog zgloba i poluge konstantne dužine. Aktivni P-zglob na bazi razvijenog mehanizma pored primene kod paralelnih robota i mašina alatki može biti primenjen i na drugim tipovama mašina. U ovom tehničkom rešenju je opisana struktura mehanizma, pristup modeliranja koji omogućava analizu i optimizaciju mehanizma, kao i razvijeni prototip.
T2  - Tehničko rešenje je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver.
T1  - Mehanizam aktivnog P-zgloba kao ekvivalenta kombinacije obrtnog zgloba i segmenta konstantne dužine - Tehničko rešenje
EP  - 26
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4774
ER  - 

@misc{
author = "Milutinović, Dragan and Kokotović, Branko and Slavković, Nikola and Živanović, Saša",
year = "2014",
abstract = "Razvoj mehanizma sa jednim stepenom slobode na bazi ravanskog zglobnog paralelograma je imao za ciq rešenje problema pogona ravanskog zglobnog paralelograma kao kinematičkog ekvivalenta obrtnog zgloba i poluge konstantne dužine. Aktivni P-zglob na bazi razvijenog mehanizma pored primene kod paralelnih robota i mašina alatki može biti primenjen i na drugim tipovama mašina. U ovom tehničkom rešenju je opisana struktura mehanizma, pristup modeliranja koji omogućava analizu i optimizaciju mehanizma, kao i razvijeni prototip.",
journal = "Tehničko rešenje je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver.",
title = "Mehanizam aktivnog P-zgloba kao ekvivalenta kombinacije obrtnog zgloba i segmenta konstantne dužine - Tehničko rešenje",
pages = "26-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4774"
}

Milutinović, D., Kokotović, B., Slavković, N.,& Živanović, S.. (2014). Mehanizam aktivnog P-zgloba kao ekvivalenta kombinacije obrtnog zgloba i segmenta konstantne dužine - Tehničko rešenje. in Tehničko rešenje je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver., 1-26.
https://hdl.handle.net/21.15107/rcub_machinery_4774

Milutinović D, Kokotović B, Slavković N, Živanović S. Mehanizam aktivnog P-zgloba kao ekvivalenta kombinacije obrtnog zgloba i segmenta konstantne dužine - Tehničko rešenje. in Tehničko rešenje je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver.. 2014;:1-26.
https://hdl.handle.net/21.15107/rcub_machinery_4774 .

Milutinović, Dragan, Kokotović, Branko, Slavković, Nikola, Živanović, Saša, "Mehanizam aktivnog P-zgloba kao ekvivalenta kombinacije obrtnog zgloba i segmenta konstantne dužine - Tehničko rešenje" in Tehničko rešenje je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver. (2014):1-26,
https://hdl.handle.net/21.15107/rcub_machinery_4774 .

TY  - CONF
AU  - Živanović, Saša
AU  - Glavonjić, Miloš
AU  - Milutinović, Dragan
AU  - Slavković, Nikola
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4709
AB  - This paper presents programming methods for parallel kinematics machine based on mini laboratory and desktop 3-axis parallel kinematic milling machine (PKMM). In this paper, a comparison between classical (G code) and new way of programming (STEP-NC) is given. Several test workpieces are machined in order to verify the programming system. The aim of the experiments was to test the capabilities of the developed control system prototype for mini laboratory and desktop 3-axis PKMM.
PB  - Aristoteles University of Thessaloniki
C3  - Proceedings of the 5th International Conference on Manufacturing Engineering ICMEN
T1  - Programming methods for mini laboratory and desktop 3-axis parallel kinematic milling machine
EP  - 162
SP  - 153
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4709
ER  - 

@conference{
author = "Živanović, Saša and Glavonjić, Miloš and Milutinović, Dragan and Slavković, Nikola",
year = "2014",
abstract = "This paper presents programming methods for parallel kinematics machine based on mini laboratory and desktop 3-axis parallel kinematic milling machine (PKMM). In this paper, a comparison between classical (G code) and new way of programming (STEP-NC) is given. Several test workpieces are machined in order to verify the programming system. The aim of the experiments was to test the capabilities of the developed control system prototype for mini laboratory and desktop 3-axis PKMM.",
publisher = "Aristoteles University of Thessaloniki",
journal = "Proceedings of the 5th International Conference on Manufacturing Engineering ICMEN",
title = "Programming methods for mini laboratory and desktop 3-axis parallel kinematic milling machine",
pages = "162-153",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4709"
}

Živanović, S., Glavonjić, M., Milutinović, D.,& Slavković, N.. (2014). Programming methods for mini laboratory and desktop 3-axis parallel kinematic milling machine. in Proceedings of the 5th International Conference on Manufacturing Engineering ICMEN
Aristoteles University of Thessaloniki., 153-162.
https://hdl.handle.net/21.15107/rcub_machinery_4709

Živanović S, Glavonjić M, Milutinović D, Slavković N. Programming methods for mini laboratory and desktop 3-axis parallel kinematic milling machine. in Proceedings of the 5th International Conference on Manufacturing Engineering ICMEN. 2014;:153-162.
https://hdl.handle.net/21.15107/rcub_machinery_4709 .

Živanović, Saša, Glavonjić, Miloš, Milutinović, Dragan, Slavković, Nikola, "Programming methods for mini laboratory and desktop 3-axis parallel kinematic milling machine" in Proceedings of the 5th International Conference on Manufacturing Engineering ICMEN (2014):153-162,
https://hdl.handle.net/21.15107/rcub_machinery_4709 .

TY  - CONF
AU  - Milutinović, Dragan
AU  - Slavković, Nikola
AU  - Živanović, Saša
AU  - Glavonjić, Miloš
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4707
AB  - This paper describes the concept of the machining robot open architecture low-cost control system for five-axis machining by articulated robots with 5 and 6 DOF. Generalized modeling approach of 6 DOF vertical articulated robot which can be configured to emulate vertical and horizontal 5-axis machine tools with spindle-tilting as well as the prototype of developed control system with programming in G-code are shown in detail. Several test work pieces were machined to demonstrate the effectiveness of developed low-cost control and programming system.
PB  - Aristoteles University of Thessaloniki
C3  - Proceedings of the 5th International Conference on Manufacturing Engineering ICMEN
T1  - Low-cost control and programming system for five-axis machining by articulated robots with 5 and 6 dof
EP  - 142
SP  - 133
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4707
ER  - 

@conference{
author = "Milutinović, Dragan and Slavković, Nikola and Živanović, Saša and Glavonjić, Miloš",
year = "2014",
abstract = "This paper describes the concept of the machining robot open architecture low-cost control system for five-axis machining by articulated robots with 5 and 6 DOF. Generalized modeling approach of 6 DOF vertical articulated robot which can be configured to emulate vertical and horizontal 5-axis machine tools with spindle-tilting as well as the prototype of developed control system with programming in G-code are shown in detail. Several test work pieces were machined to demonstrate the effectiveness of developed low-cost control and programming system.",
publisher = "Aristoteles University of Thessaloniki",
journal = "Proceedings of the 5th International Conference on Manufacturing Engineering ICMEN",
title = "Low-cost control and programming system for five-axis machining by articulated robots with 5 and 6 dof",
pages = "142-133",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4707"
}

Milutinović, D., Slavković, N., Živanović, S.,& Glavonjić, M.. (2014). Low-cost control and programming system for five-axis machining by articulated robots with 5 and 6 dof. in Proceedings of the 5th International Conference on Manufacturing Engineering ICMEN
Aristoteles University of Thessaloniki., 133-142.
https://hdl.handle.net/21.15107/rcub_machinery_4707

Milutinović D, Slavković N, Živanović S, Glavonjić M. Low-cost control and programming system for five-axis machining by articulated robots with 5 and 6 dof. in Proceedings of the 5th International Conference on Manufacturing Engineering ICMEN. 2014;:133-142.
https://hdl.handle.net/21.15107/rcub_machinery_4707 .

Milutinović, Dragan, Slavković, Nikola, Živanović, Saša, Glavonjić, Miloš, "Low-cost control and programming system for five-axis machining by articulated robots with 5 and 6 dof" in Proceedings of the 5th International Conference on Manufacturing Engineering ICMEN (2014):133-142,
https://hdl.handle.net/21.15107/rcub_machinery_4707 .

TY  - JOUR
AU  - Slavković, Nikola
AU  - Milutinović, Dragan
AU  - Glavonjić, Miloš
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1999
AB  - Industrial robots are promising cost-effective and flexible alternatives for multi-axis milling applications in machining of complex parts of light materials with lower tolerances, having freeform surfaces. As it is well-known, the poor accuracy, stiffness, and the complexity of programming are the most important limiting factors for wider adoption of robotic machining in machine shops. The paper presents the developed method for off-line compensation of machining robot tool tip static displacements as a dominant part of cutting force-induced errors. The developed method is based on modification of programmed trajectory in G-code. Off-line modification of programmed trajectory is performed according to the predicted static tool tip displacements calculated based on developed robot compliance model and cutting forces predicted by mechanistic model. The obtained experimental results show the relevance of developed method since the machining errors could be significantly reduced. This allows the desired accuracy of robot machining to converge towards nominal specifications.
PB  - Springer London Ltd, London
T2  - International Journal of Advanced Manufacturing Technology
T1  - A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification
EP  - 2096
IS  - 9-12
SP  - 2083
VL  - 70
DO  - 10.1007/s00170-013-5421-z
ER  - 

@article{
author = "Slavković, Nikola and Milutinović, Dragan and Glavonjić, Miloš",
year = "2014",
abstract = "Industrial robots are promising cost-effective and flexible alternatives for multi-axis milling applications in machining of complex parts of light materials with lower tolerances, having freeform surfaces. As it is well-known, the poor accuracy, stiffness, and the complexity of programming are the most important limiting factors for wider adoption of robotic machining in machine shops. The paper presents the developed method for off-line compensation of machining robot tool tip static displacements as a dominant part of cutting force-induced errors. The developed method is based on modification of programmed trajectory in G-code. Off-line modification of programmed trajectory is performed according to the predicted static tool tip displacements calculated based on developed robot compliance model and cutting forces predicted by mechanistic model. The obtained experimental results show the relevance of developed method since the machining errors could be significantly reduced. This allows the desired accuracy of robot machining to converge towards nominal specifications.",
publisher = "Springer London Ltd, London",
journal = "International Journal of Advanced Manufacturing Technology",
title = "A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification",
pages = "2096-2083",
number = "9-12",
volume = "70",
doi = "10.1007/s00170-013-5421-z"
}

Slavković, N., Milutinović, D.,& Glavonjić, M.. (2014). A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification. in International Journal of Advanced Manufacturing Technology
Springer London Ltd, London., 70(9-12), 2083-2096.
https://doi.org/10.1007/s00170-013-5421-z

Slavković N, Milutinović D, Glavonjić M. A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification. in International Journal of Advanced Manufacturing Technology. 2014;70(9-12):2083-2096.
doi:10.1007/s00170-013-5421-z .

Slavković, Nikola, Milutinović, Dragan, Glavonjić, Miloš, "A method for off-line compensation of cutting force-induced errors in robotic machining by tool path modification" in International Journal of Advanced Manufacturing Technology, 70, no. 9-12 (2014):2083-2096,
https://doi.org/10.1007/s00170-013-5421-z . .