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

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

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

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

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

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

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

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