TY  - CONF
AU  - Zivković, Nikola
AU  - Vidaković, Jelena
AU  - Dević, Andrija
AU  - Lazarević, Mihailo
AU  - Lazarevic, Ilija
PY  - 2024
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7792
AB  - Industrial robot programming can be a challenging
task, especially in today's age, where robots are more widespread
outside the large manufacturing companies, but rather in small
and medium enterprises where users are not necessarily fully
qualified individuals. The Extended Reality technologies may be
the ongoing answer to improved robot programming experience.
Current solutions for robot programming using Extended Reality
technologies are explored in this overview. In this paper, a
summarized description of certain solutions is given, focusing on
how are the XR technologies utilized in developing the robot
programming systems. Categorization by devices and motion
planners used is also given.
PB  - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024
T1  - An overview of XR technologies usage for industrial robot programming
EP  - 221
SP  - 218
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7792
ER  - 

@conference{
author = "Zivković, Nikola and Vidaković, Jelena and Dević, Andrija and Lazarević, Mihailo and Lazarevic, Ilija",
year = "2024",
abstract = "Industrial robot programming can be a challenging
task, especially in today's age, where robots are more widespread
outside the large manufacturing companies, but rather in small
and medium enterprises where users are not necessarily fully
qualified individuals. The Extended Reality technologies may be
the ongoing answer to improved robot programming experience.
Current solutions for robot programming using Extended Reality
technologies are explored in this overview. In this paper, a
summarized description of certain solutions is given, focusing on
how are the XR technologies utilized in developing the robot
programming systems. Categorization by devices and motion
planners used is also given.",
publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024",
title = "An overview of XR technologies usage for industrial robot programming",
pages = "221-218",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7792"
}

Zivković, N., Vidaković, J., Dević, A., Lazarević, M.,& Lazarevic, I.. (2024). An overview of XR technologies usage for industrial robot programming. in Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024
Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 218-221.
https://hdl.handle.net/21.15107/rcub_machinery_7792

Zivković N, Vidaković J, Dević A, Lazarević M, Lazarevic I. An overview of XR technologies usage for industrial robot programming. in Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024. 2024;:218-221.
https://hdl.handle.net/21.15107/rcub_machinery_7792 .

Zivković, Nikola, Vidaković, Jelena, Dević, Andrija, Lazarević, Mihailo, Lazarevic, Ilija, "An overview of XR technologies usage for industrial robot programming" in Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024 (2024):218-221,
https://hdl.handle.net/21.15107/rcub_machinery_7792 .

TY  - CONF
AU  - Vidaković, Jelena
AU  - Dević, Andrija
AU  - Zivković, Nikola
AU  - Kvrgić, Vladimir
AU  - Lazarević, Mihailo
PY  - 2024
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7791
AB  - In this paper, the implementation of the solution of the
inverse kinematics problem for the 6DoF industrial robot arm in
the Unity game engine is presented. Unity, one of the most
popular game engines, is a very powerful tool and a leading
platform for creating XR applications. Two different methods for
the implementation of the solution of the inverse kinematics
problem have been proposed: 1) Development and
implementation of the inverse kinematics algorithm of a specific
robot, and 2) Using inverse kinematics solvers by integration of
Unity with dedicated robotics development frameworks. For
verification of the proposed procedures, a serial robot with
cylindrical joints RL15 is used.
PB  - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024
T1  - Implementation of inverse kinematics algorithm for 6DoF robot arm in Unity
EP  - 64
SP  - 60
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7791
ER  - 

@conference{
author = "Vidaković, Jelena and Dević, Andrija and Zivković, Nikola and Kvrgić, Vladimir and Lazarević, Mihailo",
year = "2024",
abstract = "In this paper, the implementation of the solution of the
inverse kinematics problem for the 6DoF industrial robot arm in
the Unity game engine is presented. Unity, one of the most
popular game engines, is a very powerful tool and a leading
platform for creating XR applications. Two different methods for
the implementation of the solution of the inverse kinematics
problem have been proposed: 1) Development and
implementation of the inverse kinematics algorithm of a specific
robot, and 2) Using inverse kinematics solvers by integration of
Unity with dedicated robotics development frameworks. For
verification of the proposed procedures, a serial robot with
cylindrical joints RL15 is used.",
publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024",
title = "Implementation of inverse kinematics algorithm for 6DoF robot arm in Unity",
pages = "64-60",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7791"
}

Vidaković, J., Dević, A., Zivković, N., Kvrgić, V.,& Lazarević, M.. (2024). Implementation of inverse kinematics algorithm for 6DoF robot arm in Unity. in Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024
Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 60-64.
https://hdl.handle.net/21.15107/rcub_machinery_7791

Vidaković J, Dević A, Zivković N, Kvrgić V, Lazarević M. Implementation of inverse kinematics algorithm for 6DoF robot arm in Unity. in Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024. 2024;:60-64.
https://hdl.handle.net/21.15107/rcub_machinery_7791 .

Vidaković, Jelena, Dević, Andrija, Zivković, Nikola, Kvrgić, Vladimir, Lazarević, Mihailo, "Implementation of inverse kinematics algorithm for 6DoF robot arm in Unity" in Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024 (2024):60-64,
https://hdl.handle.net/21.15107/rcub_machinery_7791 .

TY  - CONF
AU  - Dević, Andrija
AU  - Vidaković, Jelena
AU  - Živković, Nikola
AU  - Lazarević, Mihailo
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6972
AB  - Small‐size (desktop) robot arms are being increasingly used in research and education, where low cost implementation prevails over the need for high dynamic performance. This paper presents a
design of a control unit for a 6DoF desktop robot arm with cylindrical joints actuated with stepper
motors. Feedforward control, often chosen as a control strategy for stepper motors due to the
simplicity of control algorithms, as well as the cost‐effectiveness of the solution, is selected as the
control method. The applicative software with GUI developed in Matlab is presented. A trajectory
planner based on the solution of the inverse kinematics problem and the user‐selected joint velocity profile is implemented. In order to avoid step skipping occurrence, the torque in joints necessary to  produce the programmed joints motion have to be achievable by the installed stepper motors. As a  part of applicative software, the check on the feasibility of the programmed robot trajectories by numerical simulation of solution of inverse dynamics problem in Simscape Multibody is performed. The microcontroller is used as an interface device that controls the stepper motor drivers. The applicative software communicates with the microcontroller using the TCP protocol.
PB  - Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH
C3  - 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2. June
T1  - Synthesis of the control unit of the desktop robot arm actuated by stepper motors
EP  - 365
SP  - 361
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6972
ER  - 

@conference{
author = "Dević, Andrija and Vidaković, Jelena and Živković, Nikola and Lazarević, Mihailo",
year = "2023",
abstract = "Small‐size (desktop) robot arms are being increasingly used in research and education, where low cost implementation prevails over the need for high dynamic performance. This paper presents a
design of a control unit for a 6DoF desktop robot arm with cylindrical joints actuated with stepper
motors. Feedforward control, often chosen as a control strategy for stepper motors due to the
simplicity of control algorithms, as well as the cost‐effectiveness of the solution, is selected as the
control method. The applicative software with GUI developed in Matlab is presented. A trajectory
planner based on the solution of the inverse kinematics problem and the user‐selected joint velocity profile is implemented. In order to avoid step skipping occurrence, the torque in joints necessary to  produce the programmed joints motion have to be achievable by the installed stepper motors. As a  part of applicative software, the check on the feasibility of the programmed robot trajectories by numerical simulation of solution of inverse dynamics problem in Simscape Multibody is performed. The microcontroller is used as an interface device that controls the stepper motor drivers. The applicative software communicates with the microcontroller using the TCP protocol.",
publisher = "Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH",
journal = "16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2. June",
title = "Synthesis of the control unit of the desktop robot arm actuated by stepper motors",
pages = "365-361",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6972"
}

Dević, A., Vidaković, J., Živković, N.,& Lazarević, M.. (2023). Synthesis of the control unit of the desktop robot arm actuated by stepper motors. in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2. June
Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH., 361-365.
https://hdl.handle.net/21.15107/rcub_machinery_6972

Dević A, Vidaković J, Živković N, Lazarević M. Synthesis of the control unit of the desktop robot arm actuated by stepper motors. in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2. June. 2023;:361-365.
https://hdl.handle.net/21.15107/rcub_machinery_6972 .

Dević, Andrija, Vidaković, Jelena, Živković, Nikola, Lazarević, Mihailo, "Synthesis of the control unit of the desktop robot arm actuated by stepper motors" in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2. June (2023):361-365,
https://hdl.handle.net/21.15107/rcub_machinery_6972 .

TY  - CONF
AU  - Dević, Andrija
AU  - Vidaković, Jelena
AU  - Živković, Nikola
AU  - Lazarević, Mihailo
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7235
AB  - Robot arms are complex mechatronic systems whose design is a challenging and time-consuming task. Recently, low-cost small-size desktop robot arms have been increasingly used in education, research, households, etc. This paper presents the systematic design of a 6DoF desktop robot arm with cylindrical joints actuated with stepper motors. Within the design, the main goals were to achieve cost-effectiveness of the construction, to enable the simplicity of the control unit, and to achieve fast dynamics and good repeatability. The virtual simulation system of the manipulator, built using the integration of 3D design and modern multibody simulation environment, improves the robot design and the efficiency of the robot control system. 3D modeling of the robot arm is performed in SolidWorks. The location of each motor as well as the selection of the power transmission method achieve a reduction of the required moments in the joints during the robot movement. Verifying of motors’ dimensioning is performed using numerical simulation of robot inverse dynamics problem based on the SolidWorks 3D robot model for the desired robot operations within the Simulink environment by using Simscape Multibody.
PB  - Belgrade: Serbian Society of Mechanics
C3  - 9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023
T1  - SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK
EP  - 319
IS  - ID122
SP  - 326
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7235
ER  - 

@conference{
author = "Dević, Andrija and Vidaković, Jelena and Živković, Nikola and Lazarević, Mihailo",
year = "2023",
abstract = "Robot arms are complex mechatronic systems whose design is a challenging and time-consuming task. Recently, low-cost small-size desktop robot arms have been increasingly used in education, research, households, etc. This paper presents the systematic design of a 6DoF desktop robot arm with cylindrical joints actuated with stepper motors. Within the design, the main goals were to achieve cost-effectiveness of the construction, to enable the simplicity of the control unit, and to achieve fast dynamics and good repeatability. The virtual simulation system of the manipulator, built using the integration of 3D design and modern multibody simulation environment, improves the robot design and the efficiency of the robot control system. 3D modeling of the robot arm is performed in SolidWorks. The location of each motor as well as the selection of the power transmission method achieve a reduction of the required moments in the joints during the robot movement. Verifying of motors’ dimensioning is performed using numerical simulation of robot inverse dynamics problem based on the SolidWorks 3D robot model for the desired robot operations within the Simulink environment by using Simscape Multibody.",
publisher = "Belgrade: Serbian Society of Mechanics",
journal = "9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023",
title = "SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK",
pages = "319-326",
number = "ID122",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7235"
}

Dević, A., Vidaković, J., Živković, N.,& Lazarević, M.. (2023). SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK. in 9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023
Belgrade: Serbian Society of Mechanics.(ID122), 326-319.
https://hdl.handle.net/21.15107/rcub_machinery_7235

Dević A, Vidaković J, Živković N, Lazarević M. SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK. in 9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023. 2023;(ID122):326-319.
https://hdl.handle.net/21.15107/rcub_machinery_7235 .

Dević, Andrija, Vidaković, Jelena, Živković, Nikola, Lazarević, Mihailo, "SYSTEMATIC DESIGN OF A DESKTOP ROBOT ARM IN SOLIDWORKS AND MATLAB SIMULINK" in 9 th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023, no. ID122 (2023):326-319,
https://hdl.handle.net/21.15107/rcub_machinery_7235 .

TY  - CONF
AU  - Dević, Andrija
AU  - Lukić, Nikola
AU  - Matijašević, Lazar
AU  - Petrović, Petar
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6389
AB  - Production paradigm of mass customization and development of highly complex products impose 
the need for development and using xR technologies in manufacturing. Immersive technologies (xR) are 
currently the best solution for human-machine interfaces and as such are great candidate for further 
development and usage in industry. In this paper, a way of integration between CAD modeler and xR 
development engine will be shown. For CAD modeler, SolidWorks software is chosen, which is well known as 
one of the most widely used engineering design tools, and for the xR development system is used Unity. 
Even thou SolidWorks offers great capabilities it still lacks proper xR technologies interfaces which can 
connect HMD xR interfaces(e. g. Facebook Oculus Rift). Using Unity API library and SolidWorks SDK digital twin system is created which allows remotely xR interaction between CAD and XR models.
C3  - Proceedings of the 38th International Conference on Production Engineering - ICPE-S 2021, 14 – 15. October 2021, Čačak, Serbia, 2021, 144-148
T1  - Linking cad modeler and XR engine for digital twin-based collaborative robotic assembly
EP  - 148
SP  - 144
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6389
ER  - 

@conference{
author = "Dević, Andrija and Lukić, Nikola and Matijašević, Lazar and Petrović, Petar",
year = "2021",
abstract = "Production paradigm of mass customization and development of highly complex products impose 
the need for development and using xR technologies in manufacturing. Immersive technologies (xR) are 
currently the best solution for human-machine interfaces and as such are great candidate for further 
development and usage in industry. In this paper, a way of integration between CAD modeler and xR 
development engine will be shown. For CAD modeler, SolidWorks software is chosen, which is well known as 
one of the most widely used engineering design tools, and for the xR development system is used Unity. 
Even thou SolidWorks offers great capabilities it still lacks proper xR technologies interfaces which can 
connect HMD xR interfaces(e. g. Facebook Oculus Rift). Using Unity API library and SolidWorks SDK digital twin system is created which allows remotely xR interaction between CAD and XR models.",
journal = "Proceedings of the 38th International Conference on Production Engineering - ICPE-S 2021, 14 – 15. October 2021, Čačak, Serbia, 2021, 144-148",
title = "Linking cad modeler and XR engine for digital twin-based collaborative robotic assembly",
pages = "148-144",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6389"
}

Dević, A., Lukić, N., Matijašević, L.,& Petrović, P.. (2021). Linking cad modeler and XR engine for digital twin-based collaborative robotic assembly. in Proceedings of the 38th International Conference on Production Engineering - ICPE-S 2021, 14 – 15. October 2021, Čačak, Serbia, 2021, 144-148, 144-148.
https://hdl.handle.net/21.15107/rcub_machinery_6389

Dević A, Lukić N, Matijašević L, Petrović P. Linking cad modeler and XR engine for digital twin-based collaborative robotic assembly. in Proceedings of the 38th International Conference on Production Engineering - ICPE-S 2021, 14 – 15. October 2021, Čačak, Serbia, 2021, 144-148. 2021;:144-148.
https://hdl.handle.net/21.15107/rcub_machinery_6389 .

Dević, Andrija, Lukić, Nikola, Matijašević, Lazar, Petrović, Petar, "Linking cad modeler and XR engine for digital twin-based collaborative robotic assembly" in Proceedings of the 38th International Conference on Production Engineering - ICPE-S 2021, 14 – 15. October 2021, Čačak, Serbia, 2021, 144-148 (2021):144-148,
https://hdl.handle.net/21.15107/rcub_machinery_6389 .