TY  - PAT
AU  - Živanović, Saša
AU  - Vorkapić, Nikola
AU  - Slavković, Nikola
AU  - Dimić, Zoran
AU  - Vidaković, Jelena
PY  - 2024-04-01
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7790
AB  - Pronalazak se odnosi na multifunkcionalnu i rekonfigurabilnu mašinu alatku za brzu izradu prototipova koja predstavlja novi koncept 3-osne CNC mašine sa horizontalnom obrtnom osom, koja radi u polarno-cilindričnim koordinatama i omogućava jedinstvenu integraciju tri proizvodne tehnologije na jednoj mašini: glodanje, lasersku obradu i dodavanje materijala (3D štampanje). Mašina svoju rekonfigurabilnost ostvaruje zamenom završnih uređaja koji mogu biti glava za glodanje, laserska glava ili glava za 3D štampu, uz razvijeni rekonfigurabilni upravljački softver koji podržava sve tri tehnologije. Mašina se sastoji od nepokretne noseće strukture (1), na kojoj se nalaze horizontalne vođice (10) po kojima je klizno pomerljiv klizač (9) ose X na kome se nalaze vođice (12) po kojima je klizno pomerljiv klizač (11) ose Z, na koji se postavlja ili glavno vreteno (13A) ili laserska glava (13B) ili glava za 3D štampu (13C) kao završni uređaj. Noseća struktura (1) sadrži se i obrtnu osu A’ koju čine pogonski motor (3) koji pomoću kaišnog para (19) prenosi obrtni moment na obrtno vreteno (2), uležišteno nosačima (20) ležaja, sa steznom glavom (21) gde se postavlja obradak. Na nosećoj strukturi (1) se nalaze i vođice (15) po kojima je klizno pomerljiv nosač (14) zadnjeg šiljka koji se koristi kao dodatni oslonac pri stezanju dužih obradaka u cilju povećanja krutosti.
PB  - Zavod za intelektualnu svojinu, Beograd, Knjeginje Ljubice 5
T2  - Broj 1805 U1, Isprava o malom patentu od 01.4.2024.
T1  - Multifunkcionalna i rekonfigurabilna mašina alatka za brzu izradu prototipova glodanjem, laserskom obradom i dodavanjem materijala u polarno cilindričnim koordinatama
EP  - 9
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7790
ER  - 

@misc{
author = "Živanović, Saša and Vorkapić, Nikola and Slavković, Nikola and Dimić, Zoran and Vidaković, Jelena",
year = "2024-04-01",
abstract = "Pronalazak se odnosi na multifunkcionalnu i rekonfigurabilnu mašinu alatku za brzu izradu prototipova koja predstavlja novi koncept 3-osne CNC mašine sa horizontalnom obrtnom osom, koja radi u polarno-cilindričnim koordinatama i omogućava jedinstvenu integraciju tri proizvodne tehnologije na jednoj mašini: glodanje, lasersku obradu i dodavanje materijala (3D štampanje). Mašina svoju rekonfigurabilnost ostvaruje zamenom završnih uređaja koji mogu biti glava za glodanje, laserska glava ili glava za 3D štampu, uz razvijeni rekonfigurabilni upravljački softver koji podržava sve tri tehnologije. Mašina se sastoji od nepokretne noseće strukture (1), na kojoj se nalaze horizontalne vođice (10) po kojima je klizno pomerljiv klizač (9) ose X na kome se nalaze vođice (12) po kojima je klizno pomerljiv klizač (11) ose Z, na koji se postavlja ili glavno vreteno (13A) ili laserska glava (13B) ili glava za 3D štampu (13C) kao završni uređaj. Noseća struktura (1) sadrži se i obrtnu osu A’ koju čine pogonski motor (3) koji pomoću kaišnog para (19) prenosi obrtni moment na obrtno vreteno (2), uležišteno nosačima (20) ležaja, sa steznom glavom (21) gde se postavlja obradak. Na nosećoj strukturi (1) se nalaze i vođice (15) po kojima je klizno pomerljiv nosač (14) zadnjeg šiljka koji se koristi kao dodatni oslonac pri stezanju dužih obradaka u cilju povećanja krutosti.",
publisher = "Zavod za intelektualnu svojinu, Beograd, Knjeginje Ljubice 5",
journal = "Broj 1805 U1, Isprava o malom patentu od 01.4.2024.",
title = "Multifunkcionalna i rekonfigurabilna mašina alatka za brzu izradu prototipova glodanjem, laserskom obradom i dodavanjem materijala u polarno cilindričnim koordinatama",
pages = "9-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7790"
}

Živanović, S., Vorkapić, N., Slavković, N., Dimić, Z.,& Vidaković, J.. (2024-04-01). Multifunkcionalna i rekonfigurabilna mašina alatka za brzu izradu prototipova glodanjem, laserskom obradom i dodavanjem materijala u polarno cilindričnim koordinatama. in Broj 1805 U1, Isprava o malom patentu od 01.4.2024.
Zavod za intelektualnu svojinu, Beograd, Knjeginje Ljubice 5., 1-9.
https://hdl.handle.net/21.15107/rcub_machinery_7790

Živanović S, Vorkapić N, Slavković N, Dimić Z, Vidaković J. Multifunkcionalna i rekonfigurabilna mašina alatka za brzu izradu prototipova glodanjem, laserskom obradom i dodavanjem materijala u polarno cilindričnim koordinatama. in Broj 1805 U1, Isprava o malom patentu od 01.4.2024.. 2024;:1-9.
https://hdl.handle.net/21.15107/rcub_machinery_7790 .

Živanović, Saša, Vorkapić, Nikola, Slavković, Nikola, Dimić, Zoran, Vidaković, Jelena, "Multifunkcionalna i rekonfigurabilna mašina alatka za brzu izradu prototipova glodanjem, laserskom obradom i dodavanjem materijala u polarno cilindričnim koordinatama" in Broj 1805 U1, Isprava o malom patentu od 01.4.2024. (2024-04-01):1-9,
https://hdl.handle.net/21.15107/rcub_machinery_7790 .

TY  - JOUR
AU  - Milutinović, Milan
AU  - Vasilić, Goran
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Kokotović, Branko
AU  - Slavković, Nikola
PY  - 2024
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7772
AB  - Brazed carbide profile mill cutters are widely used in the machining of wood, wood materials, and plastic to form various functional and aesthetic surfaces. Tools of this kind are used in serial and mass production and they are built today using very costly 5-axis grinding machines supported by specialized CAM software that is very expensive too. The paper first developed the possible concept of 5-axis grinding of brazed profile mill cutters using universal diamond grinding wheel shapes. The developed concept of 5-axis grinding served as a basis for the developed approach for 3+2-axis grinding of the brazed formmill cutters which is the essence of this paper. Verification of this set approach of 3+2-axis grinding is performed on a developed functional prototype of a simple 3+2-axis grinder (Axes XYZ are CNC controlled, axes B and C are unpowered axes and have fixed positions during grinding). Based on the established 3+2 grinding strategy complete grinding of a complex profile has been performed on a developed functional prototype. Shape and measures of the cutting edge profile achieved by grinding are inspected on an optical measuring system and showed exceptional results. The established 3+2-axis method of grinding
is an economically successful alternative to costly 5-axis grinding machines, as well as to specialized software, presented in the paper through experimental and practical application.
PB  - Springer-Verlag London Ltd.
T2  - The International Journal of Advanced Manufacturing Technology
T1  - Calculation of wheel path for 3+2-axis grinding of brazed carbide profilemill cutters for wood and plastic
EP  - 4620
SP  - 4603
VL  - 130
DO  - 10.1007/s00170-024-12992-3
ER  - 

@article{
author = "Milutinović, Milan and Vasilić, Goran and Živanović, Saša and Dimić, Zoran and Kokotović, Branko and Slavković, Nikola",
year = "2024",
abstract = "Brazed carbide profile mill cutters are widely used in the machining of wood, wood materials, and plastic to form various functional and aesthetic surfaces. Tools of this kind are used in serial and mass production and they are built today using very costly 5-axis grinding machines supported by specialized CAM software that is very expensive too. The paper first developed the possible concept of 5-axis grinding of brazed profile mill cutters using universal diamond grinding wheel shapes. The developed concept of 5-axis grinding served as a basis for the developed approach for 3+2-axis grinding of the brazed formmill cutters which is the essence of this paper. Verification of this set approach of 3+2-axis grinding is performed on a developed functional prototype of a simple 3+2-axis grinder (Axes XYZ are CNC controlled, axes B and C are unpowered axes and have fixed positions during grinding). Based on the established 3+2 grinding strategy complete grinding of a complex profile has been performed on a developed functional prototype. Shape and measures of the cutting edge profile achieved by grinding are inspected on an optical measuring system and showed exceptional results. The established 3+2-axis method of grinding
is an economically successful alternative to costly 5-axis grinding machines, as well as to specialized software, presented in the paper through experimental and practical application.",
publisher = "Springer-Verlag London Ltd.",
journal = "The International Journal of Advanced Manufacturing Technology",
title = "Calculation of wheel path for 3+2-axis grinding of brazed carbide profilemill cutters for wood and plastic",
pages = "4620-4603",
volume = "130",
doi = "10.1007/s00170-024-12992-3"
}

Milutinović, M., Vasilić, G., Živanović, S., Dimić, Z., Kokotović, B.,& Slavković, N.. (2024). Calculation of wheel path for 3+2-axis grinding of brazed carbide profilemill cutters for wood and plastic. in The International Journal of Advanced Manufacturing Technology
Springer-Verlag London Ltd.., 130, 4603-4620.
https://doi.org/10.1007/s00170-024-12992-3

Milutinović M, Vasilić G, Živanović S, Dimić Z, Kokotović B, Slavković N. Calculation of wheel path for 3+2-axis grinding of brazed carbide profilemill cutters for wood and plastic. in The International Journal of Advanced Manufacturing Technology. 2024;130:4603-4620.
doi:10.1007/s00170-024-12992-3 .

Milutinović, Milan, Vasilić, Goran, Živanović, Saša, Dimić, Zoran, Kokotović, Branko, Slavković, Nikola, "Calculation of wheel path for 3+2-axis grinding of brazed carbide profilemill cutters for wood and plastic" in The International Journal of Advanced Manufacturing Technology, 130 (2024):4603-4620,
https://doi.org/10.1007/s00170-024-12992-3 . .

TY  - JOUR
AU  - Živanović, Saša
AU  - Slavković, Nikola
AU  - Vorkapić, Nikola
AU  - Dimić, Zoran
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7761
AB  - U radu je predstavljen pristup za primenu STEP-NC protokola u aditivnoj proizvodnji. Koristi se sta-ndard ISO 10303 AP238 koji omogućava implementaciju geometrijskih informacija o slojevima do-davanja materijala kao ulaznih podataka za generisanje STEP-NC programa. Prikazana je i me-todologija za primenu STEP-NC protokola u aditivnoj proizvodnji. Za potrebe verifikacije i simulacije generisanih programa za aditivnu proizvodnju koristi se okruženje STEP-NC Machine i sopstvene konfigurisane mašine za dodavanje materijala u okviru ovog softvera
AB  - The paper presents an approach for applying the STEP-NC protocol in additive manufacturing. The ISO 10303 AP238 standard is used, which enables the implementation of geometrical information about material addition layers as input data for the generation of STEP-NC programs. The methodology for applying the STEP-NC protocol in additive manufacturing is also given. For verification and simulation of the generated programs for additive manufacturing, the STEP-NC Machine environment and us own configured machines for additive manufacturing within this software are used
PB  - Savez inženjera i tehničara Srbije, Beograd
T2  - Tehnika
T1  - Aditivna proizvodnja i primena STEP-NC protokola
T1  - ADDITIVE TECHNOLOGIES AND APPLICATION OF THE STEP-NC PROTOCOL
EP  - 72
IS  - 1
SP  - 65
VL  - 74
DO  - 10.5937/tehnika2401065Z
ER  - 

@article{
author = "Živanović, Saša and Slavković, Nikola and Vorkapić, Nikola and Dimić, Zoran",
year = "2023",
abstract = "U radu je predstavljen pristup za primenu STEP-NC protokola u aditivnoj proizvodnji. Koristi se sta-ndard ISO 10303 AP238 koji omogućava implementaciju geometrijskih informacija o slojevima do-davanja materijala kao ulaznih podataka za generisanje STEP-NC programa. Prikazana je i me-todologija za primenu STEP-NC protokola u aditivnoj proizvodnji. Za potrebe verifikacije i simulacije generisanih programa za aditivnu proizvodnju koristi se okruženje STEP-NC Machine i sopstvene konfigurisane mašine za dodavanje materijala u okviru ovog softvera, The paper presents an approach for applying the STEP-NC protocol in additive manufacturing. The ISO 10303 AP238 standard is used, which enables the implementation of geometrical information about material addition layers as input data for the generation of STEP-NC programs. The methodology for applying the STEP-NC protocol in additive manufacturing is also given. For verification and simulation of the generated programs for additive manufacturing, the STEP-NC Machine environment and us own configured machines for additive manufacturing within this software are used",
publisher = "Savez inženjera i tehničara Srbije, Beograd",
journal = "Tehnika",
title = "Aditivna proizvodnja i primena STEP-NC protokola, ADDITIVE TECHNOLOGIES AND APPLICATION OF THE STEP-NC PROTOCOL",
pages = "72-65",
number = "1",
volume = "74",
doi = "10.5937/tehnika2401065Z"
}

Živanović, S., Slavković, N., Vorkapić, N.,& Dimić, Z.. (2023). Aditivna proizvodnja i primena STEP-NC protokola. in Tehnika
Savez inženjera i tehničara Srbije, Beograd., 74(1), 65-72.
https://doi.org/10.5937/tehnika2401065Z

Živanović S, Slavković N, Vorkapić N, Dimić Z. Aditivna proizvodnja i primena STEP-NC protokola. in Tehnika. 2023;74(1):65-72.
doi:10.5937/tehnika2401065Z .

Živanović, Saša, Slavković, Nikola, Vorkapić, Nikola, Dimić, Zoran, "Aditivna proizvodnja i primena STEP-NC protokola" in Tehnika, 74, no. 1 (2023):65-72,
https://doi.org/10.5937/tehnika2401065Z . .

Živanović, S., Vasilić, G., Dimić, Z., Kokotović, B., Vorkapić, N.,& Slavković, N.. (2023). Edukaciona troosna rekonfigurabilna mašina sa hibridnom kinematikom MOMA V3. in Tehničko rešenje (M85) je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver., na sednici održanoj 04.7.2023.
Univerzitet u Beogradu, Mašinski fakultet., 1-45.
https://hdl.handle.net/21.15107/rcub_machinery_7723

Živanović S, Vasilić G, Dimić Z, Kokotović B, Vorkapić N, Slavković N. Edukaciona troosna rekonfigurabilna mašina sa hibridnom kinematikom MOMA V3. in Tehničko rešenje (M85) je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver., na sednici održanoj 04.7.2023.. 2023;:1-45.
https://hdl.handle.net/21.15107/rcub_machinery_7723 .

Živanović, Saša, Vasilić, Goran, Dimić, Zoran, Kokotović, Branko, Vorkapić, Nikola, Slavković, Nikola, "Edukaciona troosna rekonfigurabilna mašina sa hibridnom kinematikom MOMA V3" in Tehničko rešenje (M85) je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver., na sednici održanoj 04.7.2023. (2023):1-45,
https://hdl.handle.net/21.15107/rcub_machinery_7723 .

TY  - CONF
AU  - Živanović, Saša
AU  - Vorkapić, Nikola
AU  - Slavković, Nikola
AU  - Dimić, Zoran
AU  - Vidaković, Jelena
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7135
AB  - Rapid prototyping technology has emerged as one of the most significant technologies that enable the reduction of the product development and production times. The novel low-cost desktop multifunctional machine tool, able to support additive and subtractive manufacturing of symmetrical and asymmetrical cylindrical parts, is presented. The core of the invention is the new concept of the machine tool with a horizontal rotating device chuck (3-axis rotary CNC) as a multifunctional rapid prototyping machine. The specific concept of the machine’s geometry enabled reconfigurability, i.e., the simple change of tools for the unique combination of three production technologies on one desktop machine: milling, laser engraving, and rotary 3D printing. Open-source control infrastructure enables end-user customization and machine upgradeability and achieves cost-effectiveness. Innovative design enables additional technological advantages in the desktop rapid prototyping machine tools domain, such as: 1) the possibility of the production of a single cylindrical part completely in one clamping by using a combination of additive and subtractive manufacturing (which achieves effective use of material, energy, and reduced time consumption, increased productivity, increased accuracy); 2) modularity and the open architecture control structure which allows for upgradeability and further development of the machine according to end-user needs (possibility to add supplementary axes per users’ demands; 3) digital twin technology. MultiProDesk is a valuable production tool for SMEs in various production technologies where it allows users to adopt mass customization concepts and to reach mass personalization production (as a step to Industry 4.0).
PB  - University of Belgrade - Faculty of Mechanical Engineering
C3  - International Conference of Experimental and Numerical Investigations and New Technologies, CNN TECH 2023 - The Book of Abstracts, Zlatibor, Serbia, 04-07 July.
T1  - Design of MULTIPRODESK: Multifunctional rapid prototyping desktop machine
SP  - 12
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7135
ER  - 

@conference{
author = "Živanović, Saša and Vorkapić, Nikola and Slavković, Nikola and Dimić, Zoran and Vidaković, Jelena",
year = "2023",
abstract = "Rapid prototyping technology has emerged as one of the most significant technologies that enable the reduction of the product development and production times. The novel low-cost desktop multifunctional machine tool, able to support additive and subtractive manufacturing of symmetrical and asymmetrical cylindrical parts, is presented. The core of the invention is the new concept of the machine tool with a horizontal rotating device chuck (3-axis rotary CNC) as a multifunctional rapid prototyping machine. The specific concept of the machine’s geometry enabled reconfigurability, i.e., the simple change of tools for the unique combination of three production technologies on one desktop machine: milling, laser engraving, and rotary 3D printing. Open-source control infrastructure enables end-user customization and machine upgradeability and achieves cost-effectiveness. Innovative design enables additional technological advantages in the desktop rapid prototyping machine tools domain, such as: 1) the possibility of the production of a single cylindrical part completely in one clamping by using a combination of additive and subtractive manufacturing (which achieves effective use of material, energy, and reduced time consumption, increased productivity, increased accuracy); 2) modularity and the open architecture control structure which allows for upgradeability and further development of the machine according to end-user needs (possibility to add supplementary axes per users’ demands; 3) digital twin technology. MultiProDesk is a valuable production tool for SMEs in various production technologies where it allows users to adopt mass customization concepts and to reach mass personalization production (as a step to Industry 4.0).",
publisher = "University of Belgrade - Faculty of Mechanical Engineering",
journal = "International Conference of Experimental and Numerical Investigations and New Technologies, CNN TECH 2023 - The Book of Abstracts, Zlatibor, Serbia, 04-07 July.",
title = "Design of MULTIPRODESK: Multifunctional rapid prototyping desktop machine",
pages = "12",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7135"
}

Živanović, S., Vorkapić, N., Slavković, N., Dimić, Z.,& Vidaković, J.. (2023). Design of MULTIPRODESK: Multifunctional rapid prototyping desktop machine. in International Conference of Experimental and Numerical Investigations and New Technologies, CNN TECH 2023 - The Book of Abstracts, Zlatibor, Serbia, 04-07 July.
University of Belgrade - Faculty of Mechanical Engineering., 12.
https://hdl.handle.net/21.15107/rcub_machinery_7135

Živanović S, Vorkapić N, Slavković N, Dimić Z, Vidaković J. Design of MULTIPRODESK: Multifunctional rapid prototyping desktop machine. in International Conference of Experimental and Numerical Investigations and New Technologies, CNN TECH 2023 - The Book of Abstracts, Zlatibor, Serbia, 04-07 July.. 2023;:12.
https://hdl.handle.net/21.15107/rcub_machinery_7135 .

Živanović, Saša, Vorkapić, Nikola, Slavković, Nikola, Dimić, Zoran, Vidaković, Jelena, "Design of MULTIPRODESK: Multifunctional rapid prototyping desktop machine" in International Conference of Experimental and Numerical Investigations and New Technologies, CNN TECH 2023 - The Book of Abstracts, Zlatibor, Serbia, 04-07 July. (2023):12,
https://hdl.handle.net/21.15107/rcub_machinery_7135 .

TY  - CONF
AU  - Momčilović, Bogdan
AU  - Slavković, Nikola
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7070
AB  - In the last few decades, alongside the development of serial industrial robots, parallel robots have attracted the attention of many industries and researchers. The DELTA robot is one of the most famous parallel kinematic robots. This paper presents the DELTA robot's complete kinematic modelling and simulation system development. The developed kinematic model includes the solution of the inverse and direct kinematic problem and the determination of the Jacobian matrix. Determining the robot's kinematic parameters in the iterative procedure enabled the analysis of the workspace and singular configurations. The kinematic model and both, the direct and inverse kinematic problems are included in the simulation model to realize the motion of the virtual (wireframe) robot. The virtual robot is developed in a MatLab environment. Using the direct kinematic problem, the positions of all actuated and non-actuated joints are calculated. The simulation system, besides others, includes two developed functions for G-code interpretation and Cartesian space linear interpolation. The developed simulation model can provide information about possible collisions of robot elements. In addition, the calculated joint coordinate vector provides information on whether all movements of the robot’s end-effector can be executed according to the joint limits and the given G-code program. Verification of the developed robot simulation system and kinematic model was performed through several examples of the end-effector movement according to the program generated in a CAD/CAM environment.
PB  - University оf Novi Sad, Faculty оf Technical Sciences
C3  - 39th International Conference on Production Engineering of Serbia
T1  - DEVELOPMENT OF THE DELTA ROBOT SIMULATION SYSTEM
EP  - 23
SP  - 16
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7070
ER  - 

@conference{
author = "Momčilović, Bogdan and Slavković, Nikola",
year = "2023",
abstract = "In the last few decades, alongside the development of serial industrial robots, parallel robots have attracted the attention of many industries and researchers. The DELTA robot is one of the most famous parallel kinematic robots. This paper presents the DELTA robot's complete kinematic modelling and simulation system development. The developed kinematic model includes the solution of the inverse and direct kinematic problem and the determination of the Jacobian matrix. Determining the robot's kinematic parameters in the iterative procedure enabled the analysis of the workspace and singular configurations. The kinematic model and both, the direct and inverse kinematic problems are included in the simulation model to realize the motion of the virtual (wireframe) robot. The virtual robot is developed in a MatLab environment. Using the direct kinematic problem, the positions of all actuated and non-actuated joints are calculated. The simulation system, besides others, includes two developed functions for G-code interpretation and Cartesian space linear interpolation. The developed simulation model can provide information about possible collisions of robot elements. In addition, the calculated joint coordinate vector provides information on whether all movements of the robot’s end-effector can be executed according to the joint limits and the given G-code program. Verification of the developed robot simulation system and kinematic model was performed through several examples of the end-effector movement according to the program generated in a CAD/CAM environment.",
publisher = "University оf Novi Sad, Faculty оf Technical Sciences",
journal = "39th International Conference on Production Engineering of Serbia",
title = "DEVELOPMENT OF THE DELTA ROBOT SIMULATION SYSTEM",
pages = "23-16",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7070"
}

Momčilović, B.,& Slavković, N.. (2023). DEVELOPMENT OF THE DELTA ROBOT SIMULATION SYSTEM. in 39th International Conference on Production Engineering of Serbia
University оf Novi Sad, Faculty оf Technical Sciences., 16-23.
https://hdl.handle.net/21.15107/rcub_machinery_7070

Momčilović B, Slavković N. DEVELOPMENT OF THE DELTA ROBOT SIMULATION SYSTEM. in 39th International Conference on Production Engineering of Serbia. 2023;:16-23.
https://hdl.handle.net/21.15107/rcub_machinery_7070 .

Momčilović, Bogdan, Slavković, Nikola, "DEVELOPMENT OF THE DELTA ROBOT SIMULATION SYSTEM" in 39th International Conference on Production Engineering of Serbia (2023):16-23,
https://hdl.handle.net/21.15107/rcub_machinery_7070 .

TY  - CONF
AU  - Miljković, Zoran
AU  - Slavković, Nikola
AU  - Momčilović, Bogdan
AU  - Milićević, Đorđe
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6908
AB  - The global manufacturing industry has been demanding a steady increase in active industrial robots worldwide for years. The fields and technological tasks in which industrial robots are applied are rapidly expanding with a constant demand for improvement of their functions, technical characteristics as well as control and programming systems. One of the goals of the current research in the Laboratory for Robotics & AI is development of a domestic industrial robot with the possibility of automated programming based on information obtained from the camera. The paper presents the first part of the research developing a 4-axis SCARA industrial robot with the control system integrated camera. Professor Hiroshi Makino from Yamanashi University designed SCARA (Selective Compliance Assembly Robot Arm), and this robot is the most famous robot configuration originated at the universities. This part of the research includes the design of the mechanical structure, preliminary CAD/CAM testing, development of control and programming systems, virtual robot simulation, and robot production that were parts of two Master theses done in 2022. The realization of the robot control system starts from a well-known SCARA robot kinematic model. The open architecture control system realized in the LinuxCNC software allows the possibility of further development and full camera integration. The control system includes the integrated virtual robot model configured using several predefined Python classes and OpenGL as a digital shadow of the developed SCARA robot. Several successfully done examples of technological tasks of laser engraving have shown the verification of the complete robotic system.
PB  - University of Kragujevac, Faculty of Mechanical and Civil Engineering in Kraljevo
C3  - Proceedings of the XI International Conference Heavy Machinery-HM 2023
T1  - Development of a Domestic 4-axis SCARA Robot
EP  - P9
SP  - P1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6908
ER  - 

@conference{
author = "Miljković, Zoran and Slavković, Nikola and Momčilović, Bogdan and Milićević, Đorđe",
year = "2023",
abstract = "The global manufacturing industry has been demanding a steady increase in active industrial robots worldwide for years. The fields and technological tasks in which industrial robots are applied are rapidly expanding with a constant demand for improvement of their functions, technical characteristics as well as control and programming systems. One of the goals of the current research in the Laboratory for Robotics & AI is development of a domestic industrial robot with the possibility of automated programming based on information obtained from the camera. The paper presents the first part of the research developing a 4-axis SCARA industrial robot with the control system integrated camera. Professor Hiroshi Makino from Yamanashi University designed SCARA (Selective Compliance Assembly Robot Arm), and this robot is the most famous robot configuration originated at the universities. This part of the research includes the design of the mechanical structure, preliminary CAD/CAM testing, development of control and programming systems, virtual robot simulation, and robot production that were parts of two Master theses done in 2022. The realization of the robot control system starts from a well-known SCARA robot kinematic model. The open architecture control system realized in the LinuxCNC software allows the possibility of further development and full camera integration. The control system includes the integrated virtual robot model configured using several predefined Python classes and OpenGL as a digital shadow of the developed SCARA robot. Several successfully done examples of technological tasks of laser engraving have shown the verification of the complete robotic system.",
publisher = "University of Kragujevac, Faculty of Mechanical and Civil Engineering in Kraljevo",
journal = "Proceedings of the XI International Conference Heavy Machinery-HM 2023",
title = "Development of a Domestic 4-axis SCARA Robot",
pages = "P9-P1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6908"
}

Miljković, Z., Slavković, N., Momčilović, B.,& Milićević, Đ.. (2023). Development of a Domestic 4-axis SCARA Robot. in Proceedings of the XI International Conference Heavy Machinery-HM 2023
University of Kragujevac, Faculty of Mechanical and Civil Engineering in Kraljevo., P1-P9.
https://hdl.handle.net/21.15107/rcub_machinery_6908

Miljković Z, Slavković N, Momčilović B, Milićević Đ. Development of a Domestic 4-axis SCARA Robot. in Proceedings of the XI International Conference Heavy Machinery-HM 2023. 2023;:P1-P9.
https://hdl.handle.net/21.15107/rcub_machinery_6908 .

Miljković, Zoran, Slavković, Nikola, Momčilović, Bogdan, Milićević, Đorđe, "Development of a Domestic 4-axis SCARA Robot" in Proceedings of the XI International Conference Heavy Machinery-HM 2023 (2023):P1-P9,
https://hdl.handle.net/21.15107/rcub_machinery_6908 .

TY  - CONF
AU  - Živanović, Saša
AU  - Vasilić, Goran
AU  - Dimić, Zoran
AU  - Vorkapić, Nikola
AU  - Kokotović, Branko
AU  - Slavković, Nikola
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6879
AB  - This paper presents programming methods and program verification for the 3‐axis reconfigurable
hybrid kinematics machine MOMA V3, which represents an educational desktop milling machine
with a horizontal position of the main spindle. The paper considers the different programming and
program verification methods, including parts machining
PB  - University of Banja Luka, Faculty of Mechanical Engineering
C3  - Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023, 136-143
T1  - Programming methods and program verification for 3‐axis reconfigurable hybrid kinematics machine
EP  - 143
SP  - 136
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6879
ER  - 

@conference{
author = "Živanović, Saša and Vasilić, Goran and Dimić, Zoran and Vorkapić, Nikola and Kokotović, Branko and Slavković, Nikola",
year = "2023",
abstract = "This paper presents programming methods and program verification for the 3‐axis reconfigurable
hybrid kinematics machine MOMA V3, which represents an educational desktop milling machine
with a horizontal position of the main spindle. The paper considers the different programming and
program verification methods, including parts machining",
publisher = "University of Banja Luka, Faculty of Mechanical Engineering",
journal = "Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023, 136-143",
title = "Programming methods and program verification for 3‐axis reconfigurable hybrid kinematics machine",
pages = "143-136",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6879"
}

Živanović, S., Vasilić, G., Dimić, Z., Vorkapić, N., Kokotović, B.,& Slavković, N.. (2023). Programming methods and program verification for 3‐axis reconfigurable hybrid kinematics machine. in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023, 136-143
University of Banja Luka, Faculty of Mechanical Engineering., 136-143.
https://hdl.handle.net/21.15107/rcub_machinery_6879

Živanović S, Vasilić G, Dimić Z, Vorkapić N, Kokotović B, Slavković N. Programming methods and program verification for 3‐axis reconfigurable hybrid kinematics machine. in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023, 136-143. 2023;:136-143.
https://hdl.handle.net/21.15107/rcub_machinery_6879 .

Živanović, Saša, Vasilić, Goran, Dimić, Zoran, Vorkapić, Nikola, Kokotović, Branko, Slavković, Nikola, "Programming methods and program verification for 3‐axis reconfigurable hybrid kinematics machine" in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023, 136-143 (2023):136-143,
https://hdl.handle.net/21.15107/rcub_machinery_6879 .

TY  - JOUR
AU  - Živanović, Saša
AU  - Slavković, Nikola
AU  - Tabaković, Slobodan
AU  - Dimić, Zoran
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6808
AB  - U radu je pokazano programiranje i verifikacija programa za robote koji izvršavaju zadatke mašinske
obrade. Razmatrani su različiti metodi za programiranje robota, kao i konfigurisanje virtuelnih robota
za simulaciju rada i verifikaciju programa za zadatke mašinske obrade.
PB  - Beograd : Savez inženjera i tehničara Srbije
T2  - Tehnika
T1  - Programiranje i verifikacija programa za robote koji izvršavaju zadatke mašinske obrade
EP  - 176
IS  - 2
SP  - 167
VL  - 73
DO  - 10.5937/tehnika2302167Z
ER  - 

@article{
author = "Živanović, Saša and Slavković, Nikola and Tabaković, Slobodan and Dimić, Zoran",
year = "2023",
abstract = "U radu je pokazano programiranje i verifikacija programa za robote koji izvršavaju zadatke mašinske
obrade. Razmatrani su različiti metodi za programiranje robota, kao i konfigurisanje virtuelnih robota
za simulaciju rada i verifikaciju programa za zadatke mašinske obrade.",
publisher = "Beograd : Savez inženjera i tehničara Srbije",
journal = "Tehnika",
title = "Programiranje i verifikacija programa za robote koji izvršavaju zadatke mašinske obrade",
pages = "176-167",
number = "2",
volume = "73",
doi = "10.5937/tehnika2302167Z"
}

Živanović, S., Slavković, N., Tabaković, S.,& Dimić, Z.. (2023). Programiranje i verifikacija programa za robote koji izvršavaju zadatke mašinske obrade. in Tehnika
Beograd : Savez inženjera i tehničara Srbije., 73(2), 167-176.
https://doi.org/10.5937/tehnika2302167Z

Živanović S, Slavković N, Tabaković S, Dimić Z. Programiranje i verifikacija programa za robote koji izvršavaju zadatke mašinske obrade. in Tehnika. 2023;73(2):167-176.
doi:10.5937/tehnika2302167Z .

Živanović, Saša, Slavković, Nikola, Tabaković, Slobodan, Dimić, Zoran, "Programiranje i verifikacija programa za robote koji izvršavaju zadatke mašinske obrade" in Tehnika, 73, no. 2 (2023):167-176,
https://doi.org/10.5937/tehnika2302167Z . .

TY  - JOUR
AU  - Slavković, Nikola
AU  - Živanović, Saša
AU  - Vorkapić, Nikola
AU  - Dimić, Zoran
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4621
AB  - This paper presents an approach for developing the programming and offline
simulation systems for low-cost industrial robots in the
MatLab/Simulink environment. The approach is presented in the example
of a virtual model of a 4-axis robot with hybrid kinematics intended for
manipulation tasks. The industrial robot with hybrid kinematics consists of
the well-known 5R planar parallel mechanism to which two serial axes
have been added. The programming system developed in a MatLab
environment involves generating G-code programs based on given pick
and place points. The virtual model included in the simulation system is
configured in the Simulink environment based on the CAD model of the
robot and its kinematic structure. The kinematic model and the inverse
kinematic problem have to be included in the virtual model to realize the
motion of the virtual robot. The system of programming and simulation has
been verified through several examples that include object manipulation to
perform various tasks.
PB  - Belgrade : Faculty of Mechanical Engineering
T2  - FME Transactions
T1  - Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic
EP  - 411
IS  - 3
SP  - 403
VL  - 50
DO  - 10.5937/fme2203403S
ER  - 

@article{
author = "Slavković, Nikola and Živanović, Saša and Vorkapić, Nikola and Dimić, Zoran",
year = "2022",
abstract = "This paper presents an approach for developing the programming and offline
simulation systems for low-cost industrial robots in the
MatLab/Simulink environment. The approach is presented in the example
of a virtual model of a 4-axis robot with hybrid kinematics intended for
manipulation tasks. The industrial robot with hybrid kinematics consists of
the well-known 5R planar parallel mechanism to which two serial axes
have been added. The programming system developed in a MatLab
environment involves generating G-code programs based on given pick
and place points. The virtual model included in the simulation system is
configured in the Simulink environment based on the CAD model of the
robot and its kinematic structure. The kinematic model and the inverse
kinematic problem have to be included in the virtual model to realize the
motion of the virtual robot. The system of programming and simulation has
been verified through several examples that include object manipulation to
perform various tasks.",
publisher = "Belgrade : Faculty of Mechanical Engineering",
journal = "FME Transactions",
title = "Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic",
pages = "411-403",
number = "3",
volume = "50",
doi = "10.5937/fme2203403S"
}

Slavković, N., Živanović, S., Vorkapić, N.,& Dimić, Z.. (2022). Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic. in FME Transactions
Belgrade : Faculty of Mechanical Engineering., 50(3), 403-411.
https://doi.org/10.5937/fme2203403S

Slavković N, Živanović S, Vorkapić N, Dimić Z. Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic. in FME Transactions. 2022;50(3):403-411.
doi:10.5937/fme2203403S .

Slavković, Nikola, Živanović, Saša, Vorkapić, Nikola, Dimić, Zoran, "Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic" in FME Transactions, 50, no. 3 (2022):403-411,
https://doi.org/10.5937/fme2203403S . .

TY  - JOUR
AU  - Milutinović, Milan
AU  - Vasilić, Goran
AU  - Živanović, Saša
AU  - Kokotović, Branko
AU  - Slavković, Nikola
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3699
AB  - U ovom radu je prikazana tehnologija izrade profilnih koturastih glodala sa karbidnim pločicama od tvrdog metala sa posebnim osvrtom na postupak petoosnog brušenja (izrada profilnog sečiva) na CNC brusilici. Na osnovu analize kinematike petoosnog brušenja uspostavljen je nov koncept tehnologije izrade profilnih koturastih glodala 3+2 osnim brušenjem na obradnom centru. Primenom novog koncepta, izvršena je obrada brušenjem jednog zuba profilnog glodala čime je verifikovan nov koncept tehnologija izrade.
AB  - The paper presents the technology of making brazed shaper milling cutters and with special reference to 5-axis grinding process (making of profile blades) on CNC grinding machine tool. Based on the analysis of the kinematics of the 5-axis grinding process, a new concept of profile milling tool production by a 3+2 axis grinding process on horizontal milling center was established. By Applying new concept, one tooth of profile tool was machined by grinding process. By obtained results, new approach for manufacturing of profile milling tools was verified.
PB  - Savez inženjera i tehničara Srbije, Beograd
T2  - Tehnika
T1  - Tehnologija izrade profilnih koturastih glodala 3+2 osnim brušenjem na horizontalnom obradnom centru
T1  - Technology for manufacturing of shaper milling cutters by 3+2 grinding proces on horizontal CNC milling center
EP  - 327
IS  - 3
SP  - 321
VL  - 77
DO  - 10.5937/tehnika2203321M
ER  - 

@article{
author = "Milutinović, Milan and Vasilić, Goran and Živanović, Saša and Kokotović, Branko and Slavković, Nikola",
year = "2022",
abstract = "U ovom radu je prikazana tehnologija izrade profilnih koturastih glodala sa karbidnim pločicama od tvrdog metala sa posebnim osvrtom na postupak petoosnog brušenja (izrada profilnog sečiva) na CNC brusilici. Na osnovu analize kinematike petoosnog brušenja uspostavljen je nov koncept tehnologije izrade profilnih koturastih glodala 3+2 osnim brušenjem na obradnom centru. Primenom novog koncepta, izvršena je obrada brušenjem jednog zuba profilnog glodala čime je verifikovan nov koncept tehnologija izrade., The paper presents the technology of making brazed shaper milling cutters and with special reference to 5-axis grinding process (making of profile blades) on CNC grinding machine tool. Based on the analysis of the kinematics of the 5-axis grinding process, a new concept of profile milling tool production by a 3+2 axis grinding process on horizontal milling center was established. By Applying new concept, one tooth of profile tool was machined by grinding process. By obtained results, new approach for manufacturing of profile milling tools was verified.",
publisher = "Savez inženjera i tehničara Srbije, Beograd",
journal = "Tehnika",
title = "Tehnologija izrade profilnih koturastih glodala 3+2 osnim brušenjem na horizontalnom obradnom centru, Technology for manufacturing of shaper milling cutters by 3+2 grinding proces on horizontal CNC milling center",
pages = "327-321",
number = "3",
volume = "77",
doi = "10.5937/tehnika2203321M"
}

Milutinović, M., Vasilić, G., Živanović, S., Kokotović, B.,& Slavković, N.. (2022). Tehnologija izrade profilnih koturastih glodala 3+2 osnim brušenjem na horizontalnom obradnom centru. in Tehnika
Savez inženjera i tehničara Srbije, Beograd., 77(3), 321-327.
https://doi.org/10.5937/tehnika2203321M

Milutinović M, Vasilić G, Živanović S, Kokotović B, Slavković N. Tehnologija izrade profilnih koturastih glodala 3+2 osnim brušenjem na horizontalnom obradnom centru. in Tehnika. 2022;77(3):321-327.
doi:10.5937/tehnika2203321M .

Milutinović, Milan, Vasilić, Goran, Živanović, Saša, Kokotović, Branko, Slavković, Nikola, "Tehnologija izrade profilnih koturastih glodala 3+2 osnim brušenjem na horizontalnom obradnom centru" in Tehnika, 77, no. 3 (2022):321-327,
https://doi.org/10.5937/tehnika2203321M . .

TY  - JOUR
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Rakić, Aleksandar
AU  - Slavković, Nikola
AU  - Kokotović, Branko
AU  - Manasijević, Srecko
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/95
AB  - The paper proposes a programming methodology for advanced manufacturing based on STEP-NC, a compliant to multi-axis CNC woodworking machining center. The equivalent virtual machine in the CAD/CAM, STEP-NC environment, is developed as a part of a programming system for considered CNC woodworking machining center. STEP-NC aims to provide a digital thread for CNC manufacturing running in the STEP-NC System world via the Internet that can enable advanced e-Manufacturing. Virtual machine as a digital twin is configured and implemented into the control system based on LinuxCNC, but configured virtual machine as a Web interface based on STEP-NC, also. The developed methodology is validated through machining simulation using the configured digital twin in the control system and machining experiments on the real machine.
PB  - Taylor & Francis Ltd, Abingdon
T2  - Wood Material Science & Engineering
T1  - Programming methodology for multi-axis CNC woodworking machining center for advanced manufacturing based on STEP-NC
DO  - 10.1080/17480272.2022.2057816
ER  - 

@article{
author = "Živanović, Saša and Dimić, Zoran and Rakić, Aleksandar and Slavković, Nikola and Kokotović, Branko and Manasijević, Srecko",
year = "2022",
abstract = "The paper proposes a programming methodology for advanced manufacturing based on STEP-NC, a compliant to multi-axis CNC woodworking machining center. The equivalent virtual machine in the CAD/CAM, STEP-NC environment, is developed as a part of a programming system for considered CNC woodworking machining center. STEP-NC aims to provide a digital thread for CNC manufacturing running in the STEP-NC System world via the Internet that can enable advanced e-Manufacturing. Virtual machine as a digital twin is configured and implemented into the control system based on LinuxCNC, but configured virtual machine as a Web interface based on STEP-NC, also. The developed methodology is validated through machining simulation using the configured digital twin in the control system and machining experiments on the real machine.",
publisher = "Taylor & Francis Ltd, Abingdon",
journal = "Wood Material Science & Engineering",
title = "Programming methodology for multi-axis CNC woodworking machining center for advanced manufacturing based on STEP-NC",
doi = "10.1080/17480272.2022.2057816"
}

Živanović, S., Dimić, Z., Rakić, A., Slavković, N., Kokotović, B.,& Manasijević, S.. (2022). Programming methodology for multi-axis CNC woodworking machining center for advanced manufacturing based on STEP-NC. in Wood Material Science & Engineering
Taylor & Francis Ltd, Abingdon..
https://doi.org/10.1080/17480272.2022.2057816

Živanović S, Dimić Z, Rakić A, Slavković N, Kokotović B, Manasijević S. Programming methodology for multi-axis CNC woodworking machining center for advanced manufacturing based on STEP-NC. in Wood Material Science & Engineering. 2022;.
doi:10.1080/17480272.2022.2057816 .

Živanović, Saša, Dimić, Zoran, Rakić, Aleksandar, Slavković, Nikola, Kokotović, Branko, Manasijević, Srecko, "Programming methodology for multi-axis CNC woodworking machining center for advanced manufacturing based on STEP-NC" in Wood Material Science & Engineering (2022),
https://doi.org/10.1080/17480272.2022.2057816 . .

TY  - JOUR
AU  - Milutinović, Milan
AU  - Dimić, Zoran
AU  - Vasilić, Goran
AU  - Živanović, Saša
AU  - Kokotović, Branko
AU  - Slavković, Nikola
PY  - 2022
UR  - http://www.vti.mod.gov.rs/ntp/rad2022/1/e6.htm
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6511
AB  - Due to the great expansion of woodworking, profile tools manufacturing has become current and in demand. In wood industry there are two large groups of tools: rotary and spindle milling cutters that can be profile or flat. The technology of making profile rotary milling cutters requires, apart from cutting, turning, milling, 5-axis grinding operation that is performed on a 5-axis CNC grinding machine with the A'OXYZC configuration. It is a machine of a very complex kinematics and high cost-price. The paper presents a new machine that has been built for 3+2-axis grinding - Profilator 100,used for industrial manufacturing of rotary and spindle profile milling cutters. The accuracy of measures and shapes of the profile cutters built on Profilator 100 is of a high level and in industrial exploitation the difference is not observed between the profile cutters built on 5-axis CNC grinding machines. Regarding technoeconomic cost-effectiveness, production costs of Profilator 100 are lower even by ten times compared to the cost-price of 5-axis CNC grinding machines of renowned world manufacturers such as Schneeberger and Volmer.
PB  - Belgrade : Military Technical Institute
T2  - Scientific Technical Review
T1  - Development of a New CNC Grinding Machine for 3+2-Axis Grinding of the Profile Rotary Milling Cutter
EP  - 47
IS  - 1
SP  - 42
VL  - 72
DO  - 10.5937/str2201042M
ER  - 

@article{
author = "Milutinović, Milan and Dimić, Zoran and Vasilić, Goran and Živanović, Saša and Kokotović, Branko and Slavković, Nikola",
year = "2022",
abstract = "Due to the great expansion of woodworking, profile tools manufacturing has become current and in demand. In wood industry there are two large groups of tools: rotary and spindle milling cutters that can be profile or flat. The technology of making profile rotary milling cutters requires, apart from cutting, turning, milling, 5-axis grinding operation that is performed on a 5-axis CNC grinding machine with the A'OXYZC configuration. It is a machine of a very complex kinematics and high cost-price. The paper presents a new machine that has been built for 3+2-axis grinding - Profilator 100,used for industrial manufacturing of rotary and spindle profile milling cutters. The accuracy of measures and shapes of the profile cutters built on Profilator 100 is of a high level and in industrial exploitation the difference is not observed between the profile cutters built on 5-axis CNC grinding machines. Regarding technoeconomic cost-effectiveness, production costs of Profilator 100 are lower even by ten times compared to the cost-price of 5-axis CNC grinding machines of renowned world manufacturers such as Schneeberger and Volmer.",
publisher = "Belgrade : Military Technical Institute",
journal = "Scientific Technical Review",
title = "Development of a New CNC Grinding Machine for 3+2-Axis Grinding of the Profile Rotary Milling Cutter",
pages = "47-42",
number = "1",
volume = "72",
doi = "10.5937/str2201042M"
}

Milutinović, M., Dimić, Z., Vasilić, G., Živanović, S., Kokotović, B.,& Slavković, N.. (2022). Development of a New CNC Grinding Machine for 3+2-Axis Grinding of the Profile Rotary Milling Cutter. in Scientific Technical Review
Belgrade : Military Technical Institute., 72(1), 42-47.
https://doi.org/10.5937/str2201042M

Milutinović M, Dimić Z, Vasilić G, Živanović S, Kokotović B, Slavković N. Development of a New CNC Grinding Machine for 3+2-Axis Grinding of the Profile Rotary Milling Cutter. in Scientific Technical Review. 2022;72(1):42-47.
doi:10.5937/str2201042M .

Milutinović, Milan, Dimić, Zoran, Vasilić, Goran, Živanović, Saša, Kokotović, Branko, Slavković, Nikola, "Development of a New CNC Grinding Machine for 3+2-Axis Grinding of the Profile Rotary Milling Cutter" in Scientific Technical Review, 72, no. 1 (2022):42-47,
https://doi.org/10.5937/str2201042M . .

TY  - CONF
AU  - Erwinski, Krystian
AU  - Karasek, Gabriel
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Slavković, Nikola
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4646
AB  - This paper presents a laboratory stand for investigating trajectory optimization algorithms for non-cartesian numerically controlled machines. The stand consists of a Delta machine in KEOPS configuration with linear motors controlled by high performance servo-drives. The machine is controlled by real-time control system with LinuxCNC software. The control is performed via real-time communication bus EtherCAT. The paper also describes the extension of the LinuxCNC control system with NURBS interpolaion and s-curve feedrate profiling. Also research to be performed on the machine is discussed concerning development of trajectory optimization algorithms for parallel kinematics machines.
AB  - U ovom radu je predstavljena laboratorijska postavka za razvoj algoritama optimizacije trajektorije numerički upravljanih mašina alatki sa spegnutim osama. Laboratorijsku postavku čine DELTA mehanizam u KEOPS konfiguraciji sa linearnim osnaženim osama pogonjenih servo pogonima visokih performansi. Upravljanje mašinom je bazirano na LinuxCNC softverskom sistemu. Komunikacija pri upravljanju se vrši u realnom vremenu preko EtherCAT-a. U radu je takođe opisano proširenje LinuxCNC upravljačkog sistema sa NURBS interpolacijom i profilisanjem brzine pomoćnog kretanja pomoću s-krive. Dalja istraživanja će se odnositi na razvoj algoritama optimizacije trajektorije za mašine alatke sa paralelnom kinematikom.
PB  - University of Belgrade, Faculty of Mechanical Engineering
C3  - 43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings
T1  - Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT
EP  - 3.54
SP  - 3.47
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4646
ER  - 

@conference{
author = "Erwinski, Krystian and Karasek, Gabriel and Živanović, Saša and Dimić, Zoran and Slavković, Nikola",
year = "2022",
abstract = "This paper presents a laboratory stand for investigating trajectory optimization algorithms for non-cartesian numerically controlled machines. The stand consists of a Delta machine in KEOPS configuration with linear motors controlled by high performance servo-drives. The machine is controlled by real-time control system with LinuxCNC software. The control is performed via real-time communication bus EtherCAT. The paper also describes the extension of the LinuxCNC control system with NURBS interpolaion and s-curve feedrate profiling. Also research to be performed on the machine is discussed concerning development of trajectory optimization algorithms for parallel kinematics machines., U ovom radu je predstavljena laboratorijska postavka za razvoj algoritama optimizacije trajektorije numerički upravljanih mašina alatki sa spegnutim osama. Laboratorijsku postavku čine DELTA mehanizam u KEOPS konfiguraciji sa linearnim osnaženim osama pogonjenih servo pogonima visokih performansi. Upravljanje mašinom je bazirano na LinuxCNC softverskom sistemu. Komunikacija pri upravljanju se vrši u realnom vremenu preko EtherCAT-a. U radu je takođe opisano proširenje LinuxCNC upravljačkog sistema sa NURBS interpolacijom i profilisanjem brzine pomoćnog kretanja pomoću s-krive. Dalja istraživanja će se odnositi na razvoj algoritama optimizacije trajektorije za mašine alatke sa paralelnom kinematikom.",
publisher = "University of Belgrade, Faculty of Mechanical Engineering",
journal = "43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings",
title = "Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT",
pages = "3.54-3.47",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4646"
}

Erwinski, K., Karasek, G., Živanović, S., Dimić, Z.,& Slavković, N.. (2022). Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT. in 43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings
University of Belgrade, Faculty of Mechanical Engineering., 3.47-3.54.
https://hdl.handle.net/21.15107/rcub_machinery_4646

Erwinski K, Karasek G, Živanović S, Dimić Z, Slavković N. Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT. in 43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings. 2022;:3.47-3.54.
https://hdl.handle.net/21.15107/rcub_machinery_4646 .

Erwinski, Krystian, Karasek, Gabriel, Živanović, Saša, Dimić, Zoran, Slavković, Nikola, "Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT" in 43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings (2022):3.47-3.54,
https://hdl.handle.net/21.15107/rcub_machinery_4646 .

TY  - CONF
AU  - Milutinović, Milan
AU  - Živanović, Saša
AU  - Vasilić, Goran
AU  - Kokotović, Branko
AU  - Slavković, Nikola
AU  - Dimić, Zoran
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4643
AB  - Rezni alati predstavljaju važan segment u finalnoj obradi drveta. Rezni alati svojom složenom geometrijom omogućuju da se, u jednom prolazu, naprave složene površine na izratku koje su ranijih godina mogle da se kreiraju u više prolaza, korišćenjem manje složenih alata, uz obavezno prisustvo vrlo iskusnih operatera na mašinama. Izrada profilnih koturastih glodala pored konvencionalnih mašina alatki zahteva i petoosnu CNC brusilicu koja profiliše sečivo alata koje je složenog oblika. U ovom radu posebna pažnja posvećena je strategiji 3+2 osne obrade na novoj CNC brusilici uzimajući u obzir činjenicu da je na istoj napravljen veliki broj profilnih koturastih glodala čime je potvrđena industrijska primena nove CNC brusilice i uspostavljene tehnologije.
AB  - Cutting tools represent an important segment in the final processing of wood. Cutting tools, with
their complex geometry, make it possible to create, in one pass, complex surfaces on the workpiece that in earlier years could be created in several passes, using less complex tools, with the mandatory presence of very experienced machine operators. The production of profile milling cutters, in addition to conventional machine tools, also requires a five-axis CNC grinder that profiles the tool blade, which has a complex shape. In this work, special attention is paid to the strategy of 3+2 axis machining on the new CNC grinder, taking into account the fact that a large number of profile milling cutters were made on it, which confirmed the industrial application of the new CNC grinder and the established technology.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS, Zbornik radova
T1  - Strategija 3+2 osne obrade na novoj brusilici za izradu profilnih koturastih glodala
T1  - 3+2 axis machining strategy on the new grinding machine for manufacturing profile milling cutters
EP  - 3.100
SP  - 3.95
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4643
ER  - 

@conference{
author = "Milutinović, Milan and Živanović, Saša and Vasilić, Goran and Kokotović, Branko and Slavković, Nikola and Dimić, Zoran",
year = "2022",
abstract = "Rezni alati predstavljaju važan segment u finalnoj obradi drveta. Rezni alati svojom složenom geometrijom omogućuju da se, u jednom prolazu, naprave složene površine na izratku koje su ranijih godina mogle da se kreiraju u više prolaza, korišćenjem manje složenih alata, uz obavezno prisustvo vrlo iskusnih operatera na mašinama. Izrada profilnih koturastih glodala pored konvencionalnih mašina alatki zahteva i petoosnu CNC brusilicu koja profiliše sečivo alata koje je složenog oblika. U ovom radu posebna pažnja posvećena je strategiji 3+2 osne obrade na novoj CNC brusilici uzimajući u obzir činjenicu da je na istoj napravljen veliki broj profilnih koturastih glodala čime je potvrđena industrijska primena nove CNC brusilice i uspostavljene tehnologije., Cutting tools represent an important segment in the final processing of wood. Cutting tools, with
their complex geometry, make it possible to create, in one pass, complex surfaces on the workpiece that in earlier years could be created in several passes, using less complex tools, with the mandatory presence of very experienced machine operators. The production of profile milling cutters, in addition to conventional machine tools, also requires a five-axis CNC grinder that profiles the tool blade, which has a complex shape. In this work, special attention is paid to the strategy of 3+2 axis machining on the new CNC grinder, taking into account the fact that a large number of profile milling cutters were made on it, which confirmed the industrial application of the new CNC grinder and the established technology.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS, Zbornik radova",
title = "Strategija 3+2 osne obrade na novoj brusilici za izradu profilnih koturastih glodala, 3+2 axis machining strategy on the new grinding machine for manufacturing profile milling cutters",
pages = "3.100-3.95",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4643"
}

Milutinović, M., Živanović, S., Vasilić, G., Kokotović, B., Slavković, N.,& Dimić, Z.. (2022). Strategija 3+2 osne obrade na novoj brusilici za izradu profilnih koturastih glodala. in 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS, Zbornik radova
Univerzitet u Beogradu, Mašinski fakultet., 3.95-3.100.
https://hdl.handle.net/21.15107/rcub_machinery_4643

Milutinović M, Živanović S, Vasilić G, Kokotović B, Slavković N, Dimić Z. Strategija 3+2 osne obrade na novoj brusilici za izradu profilnih koturastih glodala. in 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS, Zbornik radova. 2022;:3.95-3.100.
https://hdl.handle.net/21.15107/rcub_machinery_4643 .

Milutinović, Milan, Živanović, Saša, Vasilić, Goran, Kokotović, Branko, Slavković, Nikola, Dimić, Zoran, "Strategija 3+2 osne obrade na novoj brusilici za izradu profilnih koturastih glodala" in 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS, Zbornik radova (2022):3.95-3.100,
https://hdl.handle.net/21.15107/rcub_machinery_4643 .

TY  - CONF
AU  - Živanović, Saša
AU  - Tanović, Ljubodrag
AU  - Puzović, Radovan
AU  - Kokotović, Branko
AU  - Slavković, Nikola
AU  - Popović, Mihajlo
AU  - Mladenović, Goran
AU  - Stojadinović, Slavenko
AU  - Pjević, Miloš
AU  - Vorkapić, Nikola
AU  - Dimić, Zoran
AU  - Rakić, Aleksandar
AU  - Manasijević, Srećko
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4629
AB  - U radu je pokazana revitalizacija horizontalne bušilice glodalice LOLA HBG 80 koja je uključila
hardversko softversku nadogradnju postojeće mašine. Kao sistem upravljanja izabarano je upravljanje
otvorene arhitektrue na LinuxCNC računarskoj platformi. Uspostavljen je sistem za programiranje i
verifikaciju programa. Konfigurisane su ekvivalentne virtuelne mašine u sistemu za programiranje i
upravljanje. Revitalizovana mašina je uspešno testirana i verifikovan je njen rad.
PB  - Univerzitet u Beogradu Mašinski Fakultet
C3  - 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022
T1  - Revitalizacija horizontalne bušilice glodalice LOLA HBG 80 upravljanjem otvorene arhitekture na LinuxCNC platformi
EP  - 3.12
SP  - 3.1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4629
ER  - 

@conference{
author = "Živanović, Saša and Tanović, Ljubodrag and Puzović, Radovan and Kokotović, Branko and Slavković, Nikola and Popović, Mihajlo and Mladenović, Goran and Stojadinović, Slavenko and Pjević, Miloš and Vorkapić, Nikola and Dimić, Zoran and Rakić, Aleksandar and Manasijević, Srećko",
year = "2022",
abstract = "U radu je pokazana revitalizacija horizontalne bušilice glodalice LOLA HBG 80 koja je uključila
hardversko softversku nadogradnju postojeće mašine. Kao sistem upravljanja izabarano je upravljanje
otvorene arhitektrue na LinuxCNC računarskoj platformi. Uspostavljen je sistem za programiranje i
verifikaciju programa. Konfigurisane su ekvivalentne virtuelne mašine u sistemu za programiranje i
upravljanje. Revitalizovana mašina je uspešno testirana i verifikovan je njen rad.",
publisher = "Univerzitet u Beogradu Mašinski Fakultet",
journal = "43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022",
title = "Revitalizacija horizontalne bušilice glodalice LOLA HBG 80 upravljanjem otvorene arhitekture na LinuxCNC platformi",
pages = "3.12-3.1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4629"
}

Živanović, S., Tanović, L., Puzović, R., Kokotović, B., Slavković, N., Popović, M., Mladenović, G., Stojadinović, S., Pjević, M., Vorkapić, N., Dimić, Z., Rakić, A.,& Manasijević, S.. (2022). Revitalizacija horizontalne bušilice glodalice LOLA HBG 80 upravljanjem otvorene arhitekture na LinuxCNC platformi. in 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022
Univerzitet u Beogradu Mašinski Fakultet., 3.1-3.12.
https://hdl.handle.net/21.15107/rcub_machinery_4629

Živanović S, Tanović L, Puzović R, Kokotović B, Slavković N, Popović M, Mladenović G, Stojadinović S, Pjević M, Vorkapić N, Dimić Z, Rakić A, Manasijević S. Revitalizacija horizontalne bušilice glodalice LOLA HBG 80 upravljanjem otvorene arhitekture na LinuxCNC platformi. in 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022. 2022;:3.1-3.12.
https://hdl.handle.net/21.15107/rcub_machinery_4629 .

Živanović, Saša, Tanović, Ljubodrag, Puzović, Radovan, Kokotović, Branko, Slavković, Nikola, Popović, Mihajlo, Mladenović, Goran, Stojadinović, Slavenko, Pjević, Miloš, Vorkapić, Nikola, Dimić, Zoran, Rakić, Aleksandar, Manasijević, Srećko, "Revitalizacija horizontalne bušilice glodalice LOLA HBG 80 upravljanjem otvorene arhitekture na LinuxCNC platformi" in 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022 (2022):3.1-3.12,
https://hdl.handle.net/21.15107/rcub_machinery_4629 .

TY  - CONF
AU  - Živanović, Saša
AU  - Vorkapić, Nikola
AU  - Slavković, Nikola
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4628
AB  - U radu se predstavlja metodologija za konfigurisanje virtuelnih mašina za aditivne tehnologije za rad u
okruženju koje je bazirano na STEP-NC protokolu i standardu ISO 10303 AP238. U cilju verifikacije rada
konfigurisanih virtuelnih mašina za aditivne tehnologije pripremljen je i primer programa za simulaciju rada
mašina u STEP-NC Machine okruženju. Konfigurisane mašine za aditivne tehnologije ili brzu izradu
prototipova dodvanjem materijala su integrisane u licencirani softver STEP-NC Machine.
PB  - Univerzitet u Beogradu Mašinski Fakultet
C3  - 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022
T1  - Konfigurisanje virtuelnih mašina alatki u STEP-NC okruženju na primeru aditivnih tehnologija
EP  - 2.26
SP  - 2.20
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4628
ER  - 

@conference{
author = "Živanović, Saša and Vorkapić, Nikola and Slavković, Nikola",
year = "2022",
abstract = "U radu se predstavlja metodologija za konfigurisanje virtuelnih mašina za aditivne tehnologije za rad u
okruženju koje je bazirano na STEP-NC protokolu i standardu ISO 10303 AP238. U cilju verifikacije rada
konfigurisanih virtuelnih mašina za aditivne tehnologije pripremljen je i primer programa za simulaciju rada
mašina u STEP-NC Machine okruženju. Konfigurisane mašine za aditivne tehnologije ili brzu izradu
prototipova dodvanjem materijala su integrisane u licencirani softver STEP-NC Machine.",
publisher = "Univerzitet u Beogradu Mašinski Fakultet",
journal = "43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022",
title = "Konfigurisanje virtuelnih mašina alatki u STEP-NC okruženju na primeru aditivnih tehnologija",
pages = "2.26-2.20",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4628"
}

Živanović, S., Vorkapić, N.,& Slavković, N.. (2022). Konfigurisanje virtuelnih mašina alatki u STEP-NC okruženju na primeru aditivnih tehnologija. in 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022
Univerzitet u Beogradu Mašinski Fakultet., 2.20-2.26.
https://hdl.handle.net/21.15107/rcub_machinery_4628

Živanović S, Vorkapić N, Slavković N. Konfigurisanje virtuelnih mašina alatki u STEP-NC okruženju na primeru aditivnih tehnologija. in 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022. 2022;:2.20-2.26.
https://hdl.handle.net/21.15107/rcub_machinery_4628 .

Živanović, Saša, Vorkapić, Nikola, Slavković, Nikola, "Konfigurisanje virtuelnih mašina alatki u STEP-NC okruženju na primeru aditivnih tehnologija" in 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022 (2022):2.20-2.26,
https://hdl.handle.net/21.15107/rcub_machinery_4628 .

TY  - CONF
AU  - Slavković, Nikola
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Vorkapić, Nikola
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4622
AB  - The development of integrated computing
environments provides opportunities for the development of
virtual production. Virtual simulation is crucial when the robot
performs tasks that include some manufacturing processes.
Virtual robots are used for program verification before sending
it to the real robot and enable collision checking between robot
segments themselves and the robot and its environment. Virtual
models of industrial robots could be configured in different
environments and ways. This paper presents the method for
configuring virtual robots as an integral part of the control
system. The virtual robot's configuration is realized under the
LinuxCNC software environment and relies on OpenGL and
several interface classes written in Python programming
language. Developing a robot kinematic model to implement a
virtual robot integrated with an open-architecture control system
is necessary. Models of robot segments were imported in ASCII
STL format and connected according to the robot kinematic
model, and then the virtual robot was integrated within the
LinuxCNC control system. The method for configuring a virtual
robot as well as its kinematic model is presented in the example
of the BiSCARA robot. Verifying the robot control system,
virtual model, and kinematic model has been performed through
several examples of drawing contours on the configured virtual
robot.
PB  - Novi Pazar : State University
C3  - 9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia
T1  - Method for Configuring Virtual Robot as an Integral Part of the Control System
EP  - 644
SP  - 639
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4622
ER  - 

@conference{
author = "Slavković, Nikola and Živanović, Saša and Dimić, Zoran and Vorkapić, Nikola",
year = "2022",
abstract = "The development of integrated computing
environments provides opportunities for the development of
virtual production. Virtual simulation is crucial when the robot
performs tasks that include some manufacturing processes.
Virtual robots are used for program verification before sending
it to the real robot and enable collision checking between robot
segments themselves and the robot and its environment. Virtual
models of industrial robots could be configured in different
environments and ways. This paper presents the method for
configuring virtual robots as an integral part of the control
system. The virtual robot's configuration is realized under the
LinuxCNC software environment and relies on OpenGL and
several interface classes written in Python programming
language. Developing a robot kinematic model to implement a
virtual robot integrated with an open-architecture control system
is necessary. Models of robot segments were imported in ASCII
STL format and connected according to the robot kinematic
model, and then the virtual robot was integrated within the
LinuxCNC control system. The method for configuring a virtual
robot as well as its kinematic model is presented in the example
of the BiSCARA robot. Verifying the robot control system,
virtual model, and kinematic model has been performed through
several examples of drawing contours on the configured virtual
robot.",
publisher = "Novi Pazar : State University",
journal = "9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia",
title = "Method for Configuring Virtual Robot as an Integral Part of the Control System",
pages = "644-639",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4622"
}

Slavković, N., Živanović, S., Dimić, Z.,& Vorkapić, N.. (2022). Method for Configuring Virtual Robot as an Integral Part of the Control System. in 9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia
Novi Pazar : State University., 639-644.
https://hdl.handle.net/21.15107/rcub_machinery_4622

Slavković N, Živanović S, Dimić Z, Vorkapić N. Method for Configuring Virtual Robot as an Integral Part of the Control System. in 9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia. 2022;:639-644.
https://hdl.handle.net/21.15107/rcub_machinery_4622 .

Slavković, Nikola, Živanović, Saša, Dimić, Zoran, Vorkapić, Nikola, "Method for Configuring Virtual Robot as an Integral Part of the Control System" in 9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia (2022):639-644,
https://hdl.handle.net/21.15107/rcub_machinery_4622 .

TY  - CONF
AU  - Živanović, Saša
AU  - Vasilić, Goran
AU  - Kokotović, Branko
AU  - Vorkapić, Nikola
AU  - Dimić, Zoran
AU  - Slavković, Nikola
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4607
AB  - U ovom radu je predstavljeno konfigurisanje troosne rekonfigurabilne mašine
sa hibridnom kinematikom MOMA V3 koja predstavlja jednu edukacionu stonu
glodalicu sa horizontalnim položajem glavnog vretena. U radu se predstavlja prototip
mašine, njeno konfigurisanje, sistem za programiranje i upravljanje i verifikacija rada.
C3  - Proceedings of the 6th international scientific conference” Conference on Mechanical Engineering Technologies and Applications” COMETa2022,November 17-19, 2022 Jahorina
T1  - Configuring and Verification of a Reconfigurable Machine with Hybrid Kinematics MOMA V3
EP  - 55
SP  - 46
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4607
ER  - 

@conference{
author = "Živanović, Saša and Vasilić, Goran and Kokotović, Branko and Vorkapić, Nikola and Dimić, Zoran and Slavković, Nikola",
year = "2022",
abstract = "U ovom radu je predstavljeno konfigurisanje troosne rekonfigurabilne mašine
sa hibridnom kinematikom MOMA V3 koja predstavlja jednu edukacionu stonu
glodalicu sa horizontalnim položajem glavnog vretena. U radu se predstavlja prototip
mašine, njeno konfigurisanje, sistem za programiranje i upravljanje i verifikacija rada.",
journal = "Proceedings of the 6th international scientific conference” Conference on Mechanical Engineering Technologies and Applications” COMETa2022,November 17-19, 2022 Jahorina",
title = "Configuring and Verification of a Reconfigurable Machine with Hybrid Kinematics MOMA V3",
pages = "55-46",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4607"
}

Živanović, S., Vasilić, G., Kokotović, B., Vorkapić, N., Dimić, Z.,& Slavković, N.. (2022). Configuring and Verification of a Reconfigurable Machine with Hybrid Kinematics MOMA V3. in Proceedings of the 6th international scientific conference” Conference on Mechanical Engineering Technologies and Applications” COMETa2022,November 17-19, 2022 Jahorina, 46-55.
https://hdl.handle.net/21.15107/rcub_machinery_4607

Živanović S, Vasilić G, Kokotović B, Vorkapić N, Dimić Z, Slavković N. Configuring and Verification of a Reconfigurable Machine with Hybrid Kinematics MOMA V3. in Proceedings of the 6th international scientific conference” Conference on Mechanical Engineering Technologies and Applications” COMETa2022,November 17-19, 2022 Jahorina. 2022;:46-55.
https://hdl.handle.net/21.15107/rcub_machinery_4607 .

Živanović, Saša, Vasilić, Goran, Kokotović, Branko, Vorkapić, Nikola, Dimić, Zoran, Slavković, Nikola, "Configuring and Verification of a Reconfigurable Machine with Hybrid Kinematics MOMA V3" in Proceedings of the 6th international scientific conference” Conference on Mechanical Engineering Technologies and Applications” COMETa2022,November 17-19, 2022 Jahorina (2022):46-55,
https://hdl.handle.net/21.15107/rcub_machinery_4607 .

TY  - CONF
AU  - Živanović, Saša
AU  - Slavković, Nikola
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4733
AB  - This paper presents a method for applying the ISO 10303 238 (AP 238) standard for programming CNC machine tools and robots for machining operations. The method encompasses programming, simulation, and machining by machine tools and industrial robots as part of current and future research at the University of Belgrade Faculty of Mechanical Engineering. Application and validation of methodology for programming according to STEP-NC protocol are performed using available CNC machine tools and industrial robots, with the following tools: (a) commercial CAD/CAM software, (b) STEP-NC Machine software with configured virtual machine tools and virtual robots, as well as (c) developed translators for generation of G-code and/or robotic programming language. STEP-NC provides new opportunities to support high-level information from design to CNC controller. This implies further evolution of the CNC system they will act using STEP-NC standards as an interface between CAD and CNC in the era of Industry 4.0.
PB  - University of Banjaluka, Faculty of Mechanical Engineering
C3  - Proceedings of the 15th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2021
T1  - Programming of machine tools and robots for machining using STEP-NC in the era of Industry 4.0
EP  - 26
SP  - 3
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4733
ER  - 

@conference{
author = "Živanović, Saša and Slavković, Nikola",
year = "2021",
abstract = "This paper presents a method for applying the ISO 10303 238 (AP 238) standard for programming CNC machine tools and robots for machining operations. The method encompasses programming, simulation, and machining by machine tools and industrial robots as part of current and future research at the University of Belgrade Faculty of Mechanical Engineering. Application and validation of methodology for programming according to STEP-NC protocol are performed using available CNC machine tools and industrial robots, with the following tools: (a) commercial CAD/CAM software, (b) STEP-NC Machine software with configured virtual machine tools and virtual robots, as well as (c) developed translators for generation of G-code and/or robotic programming language. STEP-NC provides new opportunities to support high-level information from design to CNC controller. This implies further evolution of the CNC system they will act using STEP-NC standards as an interface between CAD and CNC in the era of Industry 4.0.",
publisher = "University of Banjaluka, Faculty of Mechanical Engineering",
journal = "Proceedings of the 15th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2021",
title = "Programming of machine tools and robots for machining using STEP-NC in the era of Industry 4.0",
pages = "26-3",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4733"
}

Živanović, S.,& Slavković, N.. (2021). Programming of machine tools and robots for machining using STEP-NC in the era of Industry 4.0. in Proceedings of the 15th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2021
University of Banjaluka, Faculty of Mechanical Engineering., 3-26.
https://hdl.handle.net/21.15107/rcub_machinery_4733

Živanović S, Slavković N. Programming of machine tools and robots for machining using STEP-NC in the era of Industry 4.0. in Proceedings of the 15th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2021. 2021;:3-26.
https://hdl.handle.net/21.15107/rcub_machinery_4733 .

Živanović, Saša, Slavković, Nikola, "Programming of machine tools and robots for machining using STEP-NC in the era of Industry 4.0" in Proceedings of the 15th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2021 (2021):3-26,
https://hdl.handle.net/21.15107/rcub_machinery_4733 .

TY  - JOUR
AU  - Slavković, Nikola
AU  - Živanović, Saša
AU  - Vorkapić, Nikola
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3469
AB  - U radu je prikazano konfigurisanje virtuelnog prototipa BiSCARA robota generisanog na osnovu kompletno razvijenog kinematičkog modela robota. Ovako razvijeni virtuelni CAD model će omogućiti njegovu implementaciju u Python grafičko okruženje kao integralnog dela sistema upravljanja otvorene arhitekture razvijenog na osnovu prikazanog kinematičkog modela. Razvijeni kinematički model je obuhvatio rešavanje inverznog i direktnog kinematičkog problema, određivanje Jakobijan matrice i analizu radnog prostora. Verifikacija kinematičkog modela, odnosno konfigurisanog virtuelnog prototipa robota, je izvršena simulacijama kretanja vrha end-efektora prema zadatom programu u CAD/CAM okruženju.
AB  - The paper presents the configuring of a virtual prototype BiSCARA robot generated on the basis of a fully developed kinematic model of the robot. The virtual CAD model developed in this way will enable its implementation in the Python graphical environment as an integral part of the open architecture control system developed on the basis of the presented kinematic model. The developed kinematic model included solving the inverse and direct kinematic problem, determining the Jacobian matrix and workspace analysis. Verification of the kinematic model, i.e. the configured virtual prototype of the robot, was performed by simulations of the end-effector tip movement according to the given program in a CAD / CAM environment.
PB  - Savez inženjera i tehničara Srbije, Beograd
T2  - Tehnika
T1  - Konfigurisanje virtuelnog prototipa BiSCARA robota
T1  - Configuring a virtual prototype of a BiSCARA robot
EP  - 317
IS  - 3
SP  - 311
VL  - 76
DO  - 10.5937/tehnika2103311S
ER  - 

@article{
author = "Slavković, Nikola and Živanović, Saša and Vorkapić, Nikola",
year = "2021",
abstract = "U radu je prikazano konfigurisanje virtuelnog prototipa BiSCARA robota generisanog na osnovu kompletno razvijenog kinematičkog modela robota. Ovako razvijeni virtuelni CAD model će omogućiti njegovu implementaciju u Python grafičko okruženje kao integralnog dela sistema upravljanja otvorene arhitekture razvijenog na osnovu prikazanog kinematičkog modela. Razvijeni kinematički model je obuhvatio rešavanje inverznog i direktnog kinematičkog problema, određivanje Jakobijan matrice i analizu radnog prostora. Verifikacija kinematičkog modela, odnosno konfigurisanog virtuelnog prototipa robota, je izvršena simulacijama kretanja vrha end-efektora prema zadatom programu u CAD/CAM okruženju., The paper presents the configuring of a virtual prototype BiSCARA robot generated on the basis of a fully developed kinematic model of the robot. The virtual CAD model developed in this way will enable its implementation in the Python graphical environment as an integral part of the open architecture control system developed on the basis of the presented kinematic model. The developed kinematic model included solving the inverse and direct kinematic problem, determining the Jacobian matrix and workspace analysis. Verification of the kinematic model, i.e. the configured virtual prototype of the robot, was performed by simulations of the end-effector tip movement according to the given program in a CAD / CAM environment.",
publisher = "Savez inženjera i tehničara Srbije, Beograd",
journal = "Tehnika",
title = "Konfigurisanje virtuelnog prototipa BiSCARA robota, Configuring a virtual prototype of a BiSCARA robot",
pages = "317-311",
number = "3",
volume = "76",
doi = "10.5937/tehnika2103311S"
}

Slavković, N., Živanović, S.,& Vorkapić, N.. (2021). Konfigurisanje virtuelnog prototipa BiSCARA robota. in Tehnika
Savez inženjera i tehničara Srbije, Beograd., 76(3), 311-317.
https://doi.org/10.5937/tehnika2103311S

Slavković N, Živanović S, Vorkapić N. Konfigurisanje virtuelnog prototipa BiSCARA robota. in Tehnika. 2021;76(3):311-317.
doi:10.5937/tehnika2103311S .

Slavković, Nikola, Živanović, Saša, Vorkapić, Nikola, "Konfigurisanje virtuelnog prototipa BiSCARA robota" in Tehnika, 76, no. 3 (2021):311-317,
https://doi.org/10.5937/tehnika2103311S . .

TY  - CONF
AU  - Živanović, Saša
AU  - Slavković, Nikola
AU  - Tabaković, Slobodan
AU  - Vorkapić, Nikola
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4620
AB  - This paper presents a method for the application of STEP-NC protocol for milling on machine tools
that have Fanuc, Siemens, or LinuxCNC control systems. The programming method used ISO 10303-238 (AP-
238) standard for programming CNC machine tools. Application and validation of an indirect programming
method according to STEP-NC protocol are performed using available CNC machine tools with different
control systems.
PB  - Faculty of technical sciences Čačak University of Kragujevac
C3  - ICPE-S 2021 38th International Conference on Production Engineering, Čačak, Serbia, 14 – 15. October 2021
T1  - Application of STEP-NC protocol for milling on machine tools that use Fanuc-Siemens-LinuxCNC control system
EP  - 107
SP  - 102
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4620
ER  - 

@conference{
author = "Živanović, Saša and Slavković, Nikola and Tabaković, Slobodan and Vorkapić, Nikola",
year = "2021",
abstract = "This paper presents a method for the application of STEP-NC protocol for milling on machine tools
that have Fanuc, Siemens, or LinuxCNC control systems. The programming method used ISO 10303-238 (AP-
238) standard for programming CNC machine tools. Application and validation of an indirect programming
method according to STEP-NC protocol are performed using available CNC machine tools with different
control systems.",
publisher = "Faculty of technical sciences Čačak University of Kragujevac",
journal = "ICPE-S 2021 38th International Conference on Production Engineering, Čačak, Serbia, 14 – 15. October 2021",
title = "Application of STEP-NC protocol for milling on machine tools that use Fanuc-Siemens-LinuxCNC control system",
pages = "107-102",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4620"
}

Živanović, S., Slavković, N., Tabaković, S.,& Vorkapić, N.. (2021). Application of STEP-NC protocol for milling on machine tools that use Fanuc-Siemens-LinuxCNC control system. in ICPE-S 2021 38th International Conference on Production Engineering, Čačak, Serbia, 14 – 15. October 2021
Faculty of technical sciences Čačak University of Kragujevac., 102-107.
https://hdl.handle.net/21.15107/rcub_machinery_4620

Živanović S, Slavković N, Tabaković S, Vorkapić N. Application of STEP-NC protocol for milling on machine tools that use Fanuc-Siemens-LinuxCNC control system. in ICPE-S 2021 38th International Conference on Production Engineering, Čačak, Serbia, 14 – 15. October 2021. 2021;:102-107.
https://hdl.handle.net/21.15107/rcub_machinery_4620 .

Živanović, Saša, Slavković, Nikola, Tabaković, Slobodan, Vorkapić, Nikola, "Application of STEP-NC protocol for milling on machine tools that use Fanuc-Siemens-LinuxCNC control system" in ICPE-S 2021 38th International Conference on Production Engineering, Čačak, Serbia, 14 – 15. October 2021 (2021):102-107,
https://hdl.handle.net/21.15107/rcub_machinery_4620 .

TY  - JOUR
AU  - Slavković, Nikola
AU  - Vorkapić, Nikola
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Kokotović, Branko
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4617
AB  - The paper presents the developed control system with open architecture for the BiSCARA robot, based on
the robot kinematic model. The control system is realized in the LinuxCNC software environment and includes the
virtual robot model configured using several predefined Python classes and OpenGL. Presented methodology for
configuring virtual robots could be used for any other robot or machine tool with parallel kinematic. The
verification of the robot control system and robot kinematic model has been performed through several examples of
drawing of contour on the configured virtual robot.
PB  - Novi Sad : Faculty of Technical Sciences Department of Production Engineering
T2  - Proceedings of 14th International Scientific Conference MMA2021 Flexible Technologies, Novi Sad, Serbia, September 23-25, 2021
T1  - Virtual Biscara robot integrated with open-architecture control system
EP  - 66
SP  - 63
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4617
ER  - 

@article{
author = "Slavković, Nikola and Vorkapić, Nikola and Živanović, Saša and Dimić, Zoran and Kokotović, Branko",
year = "2021",
abstract = "The paper presents the developed control system with open architecture for the BiSCARA robot, based on
the robot kinematic model. The control system is realized in the LinuxCNC software environment and includes the
virtual robot model configured using several predefined Python classes and OpenGL. Presented methodology for
configuring virtual robots could be used for any other robot or machine tool with parallel kinematic. The
verification of the robot control system and robot kinematic model has been performed through several examples of
drawing of contour on the configured virtual robot.",
publisher = "Novi Sad : Faculty of Technical Sciences Department of Production Engineering",
journal = "Proceedings of 14th International Scientific Conference MMA2021 Flexible Technologies, Novi Sad, Serbia, September 23-25, 2021",
title = "Virtual Biscara robot integrated with open-architecture control system",
pages = "66-63",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4617"
}

Slavković, N., Vorkapić, N., Živanović, S., Dimić, Z.,& Kokotović, B.. (2021). Virtual Biscara robot integrated with open-architecture control system. in Proceedings of 14th International Scientific Conference MMA2021 Flexible Technologies, Novi Sad, Serbia, September 23-25, 2021
Novi Sad : Faculty of Technical Sciences Department of Production Engineering., 63-66.
https://hdl.handle.net/21.15107/rcub_machinery_4617

Slavković N, Vorkapić N, Živanović S, Dimić Z, Kokotović B. Virtual Biscara robot integrated with open-architecture control system. in Proceedings of 14th International Scientific Conference MMA2021 Flexible Technologies, Novi Sad, Serbia, September 23-25, 2021. 2021;:63-66.
https://hdl.handle.net/21.15107/rcub_machinery_4617 .

Slavković, Nikola, Vorkapić, Nikola, Živanović, Saša, Dimić, Zoran, Kokotović, Branko, "Virtual Biscara robot integrated with open-architecture control system" in Proceedings of 14th International Scientific Conference MMA2021 Flexible Technologies, Novi Sad, Serbia, September 23-25, 2021 (2021):63-66,
https://hdl.handle.net/21.15107/rcub_machinery_4617 .

TY  - JOUR
AU  - Vorkapić, Nikola
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Kokotović, Branko
AU  - Slavković, Nikola
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3590
AB  - Ovaj rad opisuje konfigurisanje virtuelnog horizontalnog obradnog centra LOLA HBG80 u okviru sistema za programiranje i verifikaciju, kao i u okviru sistema otvorene arhitekture upravljanja. Horizontalni obradni centar LOLA HBG 80 podržan je ekvivalentnom virtuelnom mašinom u CAD/CAM okruženju (PTC Creo i Catia), STEP-NC mašinskom okruženju, kao i u upravljačkom sistemu. Virtuelna simulacija je od suštinske važnosti za obradu, a razvijene virtuelne mašine koriste se za verifikaciju programa i monitoring procesa obrade. Virtuelna mašina u sistemu za programiranje omogućava verifikaciju programa pre slanja na stvarnu mašinu i može da uključuje verifikaciju putanje alata (CLF-Cutter Location File) i verifikaciju G-koda. U radu se takođe govori o mogućnosti primene novog metoda programiranja poznatog kao STEP-NC i pripremi odgovarajućeg okruženja koje uključuje virtuelnu mašinu. Virtuelna mašina u sistemu upravljanja predstavlja poslednji nivo za konačnu verifikaciju programa, kao i sistem za nadzor procesa.
AB  - This paper describes configuring the virtual horizontal machining center LOLA HBG80 within the programming and verification system and the open architecture control system. The horizontal machining center LOLA HBG 80 is represented by an equivalent virtual machine in a CAD/CAM environment (PTC Creo and Catia), STEP-NC Machine environment, and the control system. Virtual simulation is essential for machining, and the developed virtual machines are used for program verification and monitoring of the machining process. The virtual machine in the programming system allows the verification of the program before sending it to the real machine and includes verification of the tool path (CLF-Cutter Location File) and G-code. The paper also discusses the possibility of applying a new programming method known as STEP-NC and preparing an adequate environment that includes a virtual machine. The virtual machine in the control system represents the last level for the final program verification and the process monitoring system.
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Virtuelni horizontalni obradni centar LOLA HBG 80 za verifikaciju i monitoring programa
T1  - Virtual horizontal machining center LOLA HBG 80 for program verification and monitoring
EP  - 703
IS  - 3
SP  - 696
VL  - 49
DO  - 10.5937/fme2103696V
ER  - 

@article{
author = "Vorkapić, Nikola and Živanović, Saša and Dimić, Zoran and Kokotović, Branko and Slavković, Nikola",
year = "2021",
abstract = "Ovaj rad opisuje konfigurisanje virtuelnog horizontalnog obradnog centra LOLA HBG80 u okviru sistema za programiranje i verifikaciju, kao i u okviru sistema otvorene arhitekture upravljanja. Horizontalni obradni centar LOLA HBG 80 podržan je ekvivalentnom virtuelnom mašinom u CAD/CAM okruženju (PTC Creo i Catia), STEP-NC mašinskom okruženju, kao i u upravljačkom sistemu. Virtuelna simulacija je od suštinske važnosti za obradu, a razvijene virtuelne mašine koriste se za verifikaciju programa i monitoring procesa obrade. Virtuelna mašina u sistemu za programiranje omogućava verifikaciju programa pre slanja na stvarnu mašinu i može da uključuje verifikaciju putanje alata (CLF-Cutter Location File) i verifikaciju G-koda. U radu se takođe govori o mogućnosti primene novog metoda programiranja poznatog kao STEP-NC i pripremi odgovarajućeg okruženja koje uključuje virtuelnu mašinu. Virtuelna mašina u sistemu upravljanja predstavlja poslednji nivo za konačnu verifikaciju programa, kao i sistem za nadzor procesa., This paper describes configuring the virtual horizontal machining center LOLA HBG80 within the programming and verification system and the open architecture control system. The horizontal machining center LOLA HBG 80 is represented by an equivalent virtual machine in a CAD/CAM environment (PTC Creo and Catia), STEP-NC Machine environment, and the control system. Virtual simulation is essential for machining, and the developed virtual machines are used for program verification and monitoring of the machining process. The virtual machine in the programming system allows the verification of the program before sending it to the real machine and includes verification of the tool path (CLF-Cutter Location File) and G-code. The paper also discusses the possibility of applying a new programming method known as STEP-NC and preparing an adequate environment that includes a virtual machine. The virtual machine in the control system represents the last level for the final program verification and the process monitoring system.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Virtuelni horizontalni obradni centar LOLA HBG 80 za verifikaciju i monitoring programa, Virtual horizontal machining center LOLA HBG 80 for program verification and monitoring",
pages = "703-696",
number = "3",
volume = "49",
doi = "10.5937/fme2103696V"
}

Vorkapić, N., Živanović, S., Dimić, Z., Kokotović, B.,& Slavković, N.. (2021). Virtuelni horizontalni obradni centar LOLA HBG 80 za verifikaciju i monitoring programa. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 49(3), 696-703.
https://doi.org/10.5937/fme2103696V

Vorkapić N, Živanović S, Dimić Z, Kokotović B, Slavković N. Virtuelni horizontalni obradni centar LOLA HBG 80 za verifikaciju i monitoring programa. in FME Transactions. 2021;49(3):696-703.
doi:10.5937/fme2103696V .

Vorkapić, Nikola, Živanović, Saša, Dimić, Zoran, Kokotović, Branko, Slavković, Nikola, "Virtuelni horizontalni obradni centar LOLA HBG 80 za verifikaciju i monitoring programa" in FME Transactions, 49, no. 3 (2021):696-703,
https://doi.org/10.5937/fme2103696V . .

TY  - JOUR
AU  - Stojadinović, Slavenko
AU  - Živanović, Saša
AU  - Slavković, Nikola
AU  - Durakbasa, Numan M.
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3523
AB  - The paper presents digital measurement twin (DMT) for CMM based on STEP-NC. DMT is acting as a mirror between the physical and virtual measuring world. In this paper, the measurement system with a 3-axis CMM ZEISS UMM 500 was used as a physical twin, and a virtual machine, generated after modelling and configuring in PTC Creo software of both the machine itself and the prismatic workpiece (PW) and fixture clamps, was employed as a digital twin. STEP-NC file was generated in format P21 by programming the measuring path and simulation of the virtual measurement system operation for two types of tolerances (concentricity and perpendicularity) and three inspection features (IF) (plane, cylinder and truncated cone) in STEP-NC Machine software. Towards double digital twin, using the developed translator for two strategies, STEP-NC and a novel strategy, for obtaining measuring paths, this file is converted to a control data list (CDL), with instructions for the UMM500 axes movement according to a new indirect programming method based on the standard ISO 10303-238. Consequently, the result of this paper is off-line DMT based on STEP-NC by virtue of CDL. Web interface of the DMT based on STEP-NC uses NC.js which deploys Javascript.
PB  - Taylor & Francis Ltd, Abingdon
T2  - International Journal of Computer Integrated Manufacturing
T1  - Digital measurement twin for CMM inspection based on step-NC
EP  - 1347
IS  - 12
SP  - 1327
VL  - 34
DO  - 10.1080/0951192X.2021.1972460
ER  - 

@article{
author = "Stojadinović, Slavenko and Živanović, Saša and Slavković, Nikola and Durakbasa, Numan M.",
year = "2021",
abstract = "The paper presents digital measurement twin (DMT) for CMM based on STEP-NC. DMT is acting as a mirror between the physical and virtual measuring world. In this paper, the measurement system with a 3-axis CMM ZEISS UMM 500 was used as a physical twin, and a virtual machine, generated after modelling and configuring in PTC Creo software of both the machine itself and the prismatic workpiece (PW) and fixture clamps, was employed as a digital twin. STEP-NC file was generated in format P21 by programming the measuring path and simulation of the virtual measurement system operation for two types of tolerances (concentricity and perpendicularity) and three inspection features (IF) (plane, cylinder and truncated cone) in STEP-NC Machine software. Towards double digital twin, using the developed translator for two strategies, STEP-NC and a novel strategy, for obtaining measuring paths, this file is converted to a control data list (CDL), with instructions for the UMM500 axes movement according to a new indirect programming method based on the standard ISO 10303-238. Consequently, the result of this paper is off-line DMT based on STEP-NC by virtue of CDL. Web interface of the DMT based on STEP-NC uses NC.js which deploys Javascript.",
publisher = "Taylor & Francis Ltd, Abingdon",
journal = "International Journal of Computer Integrated Manufacturing",
title = "Digital measurement twin for CMM inspection based on step-NC",
pages = "1347-1327",
number = "12",
volume = "34",
doi = "10.1080/0951192X.2021.1972460"
}

Stojadinović, S., Živanović, S., Slavković, N.,& Durakbasa, N. M.. (2021). Digital measurement twin for CMM inspection based on step-NC. in International Journal of Computer Integrated Manufacturing
Taylor & Francis Ltd, Abingdon., 34(12), 1327-1347.
https://doi.org/10.1080/0951192X.2021.1972460

Stojadinović S, Živanović S, Slavković N, Durakbasa NM. Digital measurement twin for CMM inspection based on step-NC. in International Journal of Computer Integrated Manufacturing. 2021;34(12):1327-1347.
doi:10.1080/0951192X.2021.1972460 .

Stojadinović, Slavenko, Živanović, Saša, Slavković, Nikola, Durakbasa, Numan M., "Digital measurement twin for CMM inspection based on step-NC" in International Journal of Computer Integrated Manufacturing, 34, no. 12 (2021):1327-1347,
https://doi.org/10.1080/0951192X.2021.1972460 . .