Ovaj rad je nastao u okviru istraživanja na projektu razvoja veštačke inteligencije pod nazivom "Deep Machine Learning and Swarm Intelligence-Based Optimization Algorithms for Control and Scheduling of Cyber-Physical Systems in Industry 4.0" (AI - MISSION

Link to this page

http://machinery.mas.bg.ac.rs/APP/faces/project.xhtml?project_id=Ovaj+rad+je+nastao+u+okviru+istra%C5%BEivanja+na+projektu+razvoja+ve%C5%A1ta%C4%8Dke+inteligencije+pod+nazivom+%22Deep+Machine+Learning+and+Swarm+Intelligence-Based+Optimization+Algorithms+for+Control+and+Scheduling+of+Cyber-Physical+Systems+in+Industry+4.0%22+%28AI+-+MISSION&item_offset=0&author_offset=0&sort_by=dc.date.issued

Ovaj rad je nastao u okviru istraživanja na projektu razvoja veštačke inteligencije pod nazivom "Deep Machine Learning and Swarm Intelligence-Based Optimization Algorithms for Control and Scheduling of Cyber-Physical Systems in Industry 4.0" (AI - MISSION

Authors

Publications

Konfigurisanje virtuelnog prototipa BiSCARA robota

Slavković, Nikola; Živanović, Saša; Vorkapić, Nikola

(Savez inženjera i tehničara Srbije, Beograd, 2021) 

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 . .
1