TY  - CONF
AU  - Živković, Nikola
AU  - Lazarević, Mihailo
AU  - Vidaković, Jelena
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6973
AB  - In this research paper, the application of Iterative Learning Control (ILC), an intelligent control
method, is suggested in the form of a fractional‐order PD‐type controller. The main task of the ILC controller is to reject process model uncertainties, which are often present in complex systems such as  various multibody systems, and to sequentially reduce a trajectory tracking error. As a control plant, an exoskeleton support arm with three degrees of freedom is used herein. The control scheme consists  of feedback linearization compensating for the known part of the dynamics model and the  feedforward ILC controller of the PDα‐type. The feedback part of the control system is the classical PD  controller. The feedforward control signal is filtered with a lowpass filter to avoid divergent behavior as iterations progress. Finally, simulation results are presented to demonstrate the proposed control system performance applied to the chosen control plant, as well as the achieved error convergence towards the steady‐state value for various values of the fractional order.
PB  - Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH
C3  - 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2 June
T1  - Assessment of fractional order impact on performance of fractional ILC controller for upper limb exoskeleton
EP  - 337
SP  - 333
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6973
ER  - 

@conference{
author = "Živković, Nikola and Lazarević, Mihailo and Vidaković, Jelena",
year = "2023",
abstract = "In this research paper, the application of Iterative Learning Control (ILC), an intelligent control
method, is suggested in the form of a fractional‐order PD‐type controller. The main task of the ILC controller is to reject process model uncertainties, which are often present in complex systems such as  various multibody systems, and to sequentially reduce a trajectory tracking error. As a control plant, an exoskeleton support arm with three degrees of freedom is used herein. The control scheme consists  of feedback linearization compensating for the known part of the dynamics model and the  feedforward ILC controller of the PDα‐type. The feedback part of the control system is the classical PD  controller. The feedforward control signal is filtered with a lowpass filter to avoid divergent behavior as iterations progress. Finally, simulation results are presented to demonstrate the proposed control system performance applied to the chosen control plant, as well as the achieved error convergence towards the steady‐state value for various values of the fractional order.",
publisher = "Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH",
journal = "16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2 June",
title = "Assessment of fractional order impact on performance of fractional ILC controller for upper limb exoskeleton",
pages = "337-333",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6973"
}

Živković, N., Lazarević, M.,& Vidaković, J.. (2023). Assessment of fractional order impact on performance of fractional ILC controller for upper limb exoskeleton. in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2 June
Banja Luka: Faculty of Mechanical Engineering Banja Luka, Republic of Srpska, BiH., 333-337.
https://hdl.handle.net/21.15107/rcub_machinery_6973

Živković N, Lazarević M, Vidaković J. Assessment of fractional order impact on performance of fractional ILC controller for upper limb exoskeleton. in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2 June. 2023;:333-337.
https://hdl.handle.net/21.15107/rcub_machinery_6973 .

Živković, Nikola, Lazarević, Mihailo, Vidaković, Jelena, "Assessment of fractional order impact on performance of fractional ILC controller for upper limb exoskeleton" in 16TH INTERNATIONAL CONFERENCE ON ACCOMPLISHMENTS IN MECHANICAL AND INDUSTRIAL ENGINEERING,DEMI 2023, Banja Luka 1-2 June (2023):333-337,
https://hdl.handle.net/21.15107/rcub_machinery_6973 .

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

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

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

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

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

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

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

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

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

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

TY  - CONF
AU  - Živković, Nikola
AU  - Lazarević, Mihailo
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7236
AB  - This paper proposes a Fractional-order Iterative Learning Control (FOILC) algorithm combined with feedback linearization for the upper limbs rehabilitation exoskeleton. The control system is divided into an inner and outer loop, where the feedback linearization controller closes the inner loop linearizing the nominal part of the robot dynamics. The outer loop consists of feedforward action and classical feedback controller with Proportional and Derivative action (PD). Feedforward action is proposed as the FOILC of the PDα-type, where α is the fractional derivative order. Since feedback linearization control action can cancel only a nominal part of the model dynamics, uncertainty is introduced as an additive uncertainty. The uncertainty is defined as a change in the mass parameter of each exoskeleton link [1]. The control object is a three-DoF open-chain exoskeleton model. The mathematical model of the exoskeleton is modeled in Simulink using Robotics Toolbox. The feedback linearization controller is the model-based controller, which accounts for the known part of the dynamics leaving the uncertain part uncontrolled. A classical PD feedback controller is introduced alongside FOILC in feedforward to stabilize and improve the tracking performance of the linearized system with uncertainties. The main advantage of FOILC is robustness to uncertainty and disturbances that are non-varying along the iteration axis. In this study, we chose the FOILC controller, a variation of ILC, to improve trajectory tracking with present uncertainties in the exoskeleton system model. The FOILC controller consists of the previous control signal, proportional and fractional order derivative terms. The learning gains and fractional order of the FOILC are optimized using the Particle Swarm Optimization (PSO) method. PSO is a population-based stochastic optimization method inspired by the social behavior of birds flocking or fish schooling. The main idea of PSO is to search for an optimal solution by simulating the social behavior of particles moving in a multi-dimensional search space. PSO is particularly well-suited for this problem since we have nine parameters in total for tuning. This research aims to investigate the behavior of the error convergence over iterations with optimized learning gains and fractional order of the FOILC controller for various percentages of the mass parameter change. The numerical simulation is conducted in Matlab and Simulink with the time step Ts = 0.005s. The desired trajectory is defined in the joint space as a fifth-order polynomial. The infinite norm of the error vector (max norm) for each iteration is used as a measure of the performance of the proposed control system. Figure 1. shows the error norm comparison between different percentages of mass uncertainty, and Figure 2. shows the difference between PSO-optimized FOILC and non-optimized integer order ILC for mass uncertainty equal to 30 percent of the original mass of the links. From previous diagrams it is clear that PSO optimized FOILC converges faster than its non-optimized integer order counterpart and that PSO optimized FOILC displays satisfactory robustness to different mass uncertainties.
PB  - Belgrade: Serbian Society of Mechanics
C3  - Proceedings of 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023
T1  - PSO-OPTIMIZED FRACTIONAL ORDER ITERATIVE LEARNING CONTROLLER FOR 3DOF UNCERTAIN EXOSKELETON SYSTEM
EP  - 460
IS  - ID.123
SP  - 459
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7236
ER  - 

@conference{
author = "Živković, Nikola and Lazarević, Mihailo",
year = "2023",
abstract = "This paper proposes a Fractional-order Iterative Learning Control (FOILC) algorithm combined with feedback linearization for the upper limbs rehabilitation exoskeleton. The control system is divided into an inner and outer loop, where the feedback linearization controller closes the inner loop linearizing the nominal part of the robot dynamics. The outer loop consists of feedforward action and classical feedback controller with Proportional and Derivative action (PD). Feedforward action is proposed as the FOILC of the PDα-type, where α is the fractional derivative order. Since feedback linearization control action can cancel only a nominal part of the model dynamics, uncertainty is introduced as an additive uncertainty. The uncertainty is defined as a change in the mass parameter of each exoskeleton link [1]. The control object is a three-DoF open-chain exoskeleton model. The mathematical model of the exoskeleton is modeled in Simulink using Robotics Toolbox. The feedback linearization controller is the model-based controller, which accounts for the known part of the dynamics leaving the uncertain part uncontrolled. A classical PD feedback controller is introduced alongside FOILC in feedforward to stabilize and improve the tracking performance of the linearized system with uncertainties. The main advantage of FOILC is robustness to uncertainty and disturbances that are non-varying along the iteration axis. In this study, we chose the FOILC controller, a variation of ILC, to improve trajectory tracking with present uncertainties in the exoskeleton system model. The FOILC controller consists of the previous control signal, proportional and fractional order derivative terms. The learning gains and fractional order of the FOILC are optimized using the Particle Swarm Optimization (PSO) method. PSO is a population-based stochastic optimization method inspired by the social behavior of birds flocking or fish schooling. The main idea of PSO is to search for an optimal solution by simulating the social behavior of particles moving in a multi-dimensional search space. PSO is particularly well-suited for this problem since we have nine parameters in total for tuning. This research aims to investigate the behavior of the error convergence over iterations with optimized learning gains and fractional order of the FOILC controller for various percentages of the mass parameter change. The numerical simulation is conducted in Matlab and Simulink with the time step Ts = 0.005s. The desired trajectory is defined in the joint space as a fifth-order polynomial. The infinite norm of the error vector (max norm) for each iteration is used as a measure of the performance of the proposed control system. Figure 1. shows the error norm comparison between different percentages of mass uncertainty, and Figure 2. shows the difference between PSO-optimized FOILC and non-optimized integer order ILC for mass uncertainty equal to 30 percent of the original mass of the links. From previous diagrams it is clear that PSO optimized FOILC converges faster than its non-optimized integer order counterpart and that PSO optimized FOILC displays satisfactory robustness to different mass uncertainties.",
publisher = "Belgrade: Serbian Society of Mechanics",
journal = "Proceedings of 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023",
title = "PSO-OPTIMIZED FRACTIONAL ORDER ITERATIVE LEARNING CONTROLLER FOR 3DOF UNCERTAIN EXOSKELETON SYSTEM",
pages = "460-459",
number = "ID.123",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7236"
}

Živković, N.,& Lazarević, M.. (2023). PSO-OPTIMIZED FRACTIONAL ORDER ITERATIVE LEARNING CONTROLLER FOR 3DOF UNCERTAIN EXOSKELETON SYSTEM. in Proceedings of 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023
Belgrade: Serbian Society of Mechanics.(ID.123), 459-460.
https://hdl.handle.net/21.15107/rcub_machinery_7236

Živković N, Lazarević M. PSO-OPTIMIZED FRACTIONAL ORDER ITERATIVE LEARNING CONTROLLER FOR 3DOF UNCERTAIN EXOSKELETON SYSTEM. in Proceedings of 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023. 2023;(ID.123):459-460.
https://hdl.handle.net/21.15107/rcub_machinery_7236 .

Živković, Nikola, Lazarević, Mihailo, "PSO-OPTIMIZED FRACTIONAL ORDER ITERATIVE LEARNING CONTROLLER FOR 3DOF UNCERTAIN EXOSKELETON SYSTEM" in Proceedings of 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023, no. ID.123 (2023):459-460,
https://hdl.handle.net/21.15107/rcub_machinery_7236 .

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 .

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  - 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  - Živanović, Saša
AU  - Vorkapić, Nikola
AU  - Mitrović, Stefan
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7136
AB  - The application of new additive technologies is based on models STL models of prototypes that will be build. This paper discusses two additive technologies: Fused Deposition Modeling – FDM and Laser Metal Directed Energy Deposition – Laser DED in terms of program preparation and its verification by simulation of material addition, i.e. machine simulation for these procedures. The paper presents the programming and program verification using machine simulation of additive manufacturing tool path in CAD/CAM and Vericut environment. A procedure for configuring and preparing of a virtual machine for several additive process simulations has been proposed. Simulation is a key technology for program verification. Machine simulation and digital twin are the primary simulation–based approaches in the context of the Industry 4.0. The paper analyzes the available programming software for generating G code from the STL file as well as the possibility of simulating the virtual machine when working according to the generated program.
PB  - University POLITEHNICA Timisoara, Faculty of Engineering Hunedoara
T2  - ACTA TECHNICA CORVINIENSIS – Bulletin of Engineering, October – December,  2022
T1  - Machine simulation of additive manufacturing tool path
IS  - 4
VL  - XV
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7136
ER  - 

@article{
author = "Živanović, Saša and Vorkapić, Nikola and Mitrović, Stefan",
year = "2022",
abstract = "The application of new additive technologies is based on models STL models of prototypes that will be build. This paper discusses two additive technologies: Fused Deposition Modeling – FDM and Laser Metal Directed Energy Deposition – Laser DED in terms of program preparation and its verification by simulation of material addition, i.e. machine simulation for these procedures. The paper presents the programming and program verification using machine simulation of additive manufacturing tool path in CAD/CAM and Vericut environment. A procedure for configuring and preparing of a virtual machine for several additive process simulations has been proposed. Simulation is a key technology for program verification. Machine simulation and digital twin are the primary simulation–based approaches in the context of the Industry 4.0. The paper analyzes the available programming software for generating G code from the STL file as well as the possibility of simulating the virtual machine when working according to the generated program.",
publisher = "University POLITEHNICA Timisoara, Faculty of Engineering Hunedoara",
journal = "ACTA TECHNICA CORVINIENSIS – Bulletin of Engineering, October – December,  2022",
title = "Machine simulation of additive manufacturing tool path",
number = "4",
volume = "XV",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7136"
}

Živanović, S., Vorkapić, N.,& Mitrović, S.. (2022). Machine simulation of additive manufacturing tool path. in ACTA TECHNICA CORVINIENSIS – Bulletin of Engineering, October – December,  2022
University POLITEHNICA Timisoara, Faculty of Engineering Hunedoara., XV(4).
https://hdl.handle.net/21.15107/rcub_machinery_7136

Živanović S, Vorkapić N, Mitrović S. Machine simulation of additive manufacturing tool path. in ACTA TECHNICA CORVINIENSIS – Bulletin of Engineering, October – December,  2022. 2022;XV(4).
https://hdl.handle.net/21.15107/rcub_machinery_7136 .

Živanović, Saša, Vorkapić, Nikola, Mitrović, Stefan, "Machine simulation of additive manufacturing tool path" in ACTA TECHNICA CORVINIENSIS – Bulletin of Engineering, October – December,  2022, XV, no. 4 (2022),
https://hdl.handle.net/21.15107/rcub_machinery_7136 .

TY  - CONF
AU  - Dimić, Zoran
AU  - Pavlović, Dragan
AU  - Živanović, Saša
AU  - Furtula, Mladen
AU  - Đurković, Marija
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4636
AB  - U radu je predstavljen sistem upravljanja otvorene arhitekture koji je implementiran na troosnoj glodalici za obradu drveta koja može raditi i u vertikalnoj i u horizontalnoj konfiguraciji, kao i upravljanje preko digitalnog dvojnika. Razvoj sistema upravljanja putem digitalnog dvojnika motivisan je istraživačkim i edukacionim zahtevima. Razmatrani CNC sistem za obradu drveta je podržan od ekvivalentne virtuelne mašine u sistemu upravljanja kao digitalni dvojnik. Konfigurisana virtuelna mašina se koristi za simulaciju obrade i verifikaciju sistema upravljanja. Prikazan je jedan test predmet koji je obrađen u vertikalnoj i horizontalnoj konfiguraciji da bi se potvrdila efikasnost razvijenih sistema upravljanja koji su zasnovani na LinuxCNC-u.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS : Zbornik radova
T1  - Dinamički rekonfigurabilni upravljački sistem sa promenljivim tokom izvršavanja kinematičkog algoritma
T1  - Dynamic reconfigurable control system with variable flow of execution of kinematic algorithm
EP  - 3.117
SP  - 3.112
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4636
ER  - 

@conference{
author = "Dimić, Zoran and Pavlović, Dragan and Živanović, Saša and Furtula, Mladen and Đurković, Marija",
year = "2022",
abstract = "U radu je predstavljen sistem upravljanja otvorene arhitekture koji je implementiran na troosnoj glodalici za obradu drveta koja može raditi i u vertikalnoj i u horizontalnoj konfiguraciji, kao i upravljanje preko digitalnog dvojnika. Razvoj sistema upravljanja putem digitalnog dvojnika motivisan je istraživačkim i edukacionim zahtevima. Razmatrani CNC sistem za obradu drveta je podržan od ekvivalentne virtuelne mašine u sistemu upravljanja kao digitalni dvojnik. Konfigurisana virtuelna mašina se koristi za simulaciju obrade i verifikaciju sistema upravljanja. Prikazan je jedan test predmet koji je obrađen u vertikalnoj i horizontalnoj konfiguraciji da bi se potvrdila efikasnost razvijenih sistema upravljanja koji su zasnovani na LinuxCNC-u.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS : Zbornik radova",
title = "Dinamički rekonfigurabilni upravljački sistem sa promenljivim tokom izvršavanja kinematičkog algoritma, Dynamic reconfigurable control system with variable flow of execution of kinematic algorithm",
pages = "3.117-3.112",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4636"
}

Dimić, Z., Pavlović, D., Živanović, S., Furtula, M.,& Đurković, M.. (2022). Dinamički rekonfigurabilni upravljački sistem sa promenljivim tokom izvršavanja kinematičkog algoritma. in 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS : Zbornik radova
Univerzitet u Beogradu, Mašinski fakultet., 3.112-3.117.
https://hdl.handle.net/21.15107/rcub_machinery_4636

Dimić Z, Pavlović D, Živanović S, Furtula M, Đurković M. Dinamički rekonfigurabilni upravljački sistem sa promenljivim tokom izvršavanja kinematičkog algoritma. in 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS : Zbornik radova. 2022;:3.112-3.117.
https://hdl.handle.net/21.15107/rcub_machinery_4636 .

Dimić, Zoran, Pavlović, Dragan, Živanović, Saša, Furtula, Mladen, Đurković, Marija, "Dinamički rekonfigurabilni upravljački sistem sa promenljivim tokom izvršavanja kinematičkog algoritma" in 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS : Zbornik radova (2022):3.112-3.117,
https://hdl.handle.net/21.15107/rcub_machinery_4636 .

TY  - CONF
AU  - Zivković, N.
AU  - Vidaković, Jelena
AU  - Mitrović, S.
AU  - Lazarević, Mihailo
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3832
AB  - This paper presents a method for the implementation of a robot forward kinematics algorithm that complies with the Denavit-Hartenberg (DH) convention in Robot Operating System (ROS). The integration of the algorithm in ROS is based on the representation of DH parameters in dual quaternion space. The main motivation for the presented research is to make use of ROS powerful visualization tools available in tasks that require robot forward kinematics calculation while keeping the principles of DH robot modeling convention. Implementation of the dual quaternion-based robot forward kinematics algorithm in ROS is demonstrated using a serial 6DoFs robot as an example.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - 2022 11th Mediterranean Conference on Embedded Computing, MECO 2022
T1  - Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS
DO  - 10.1109/MECO55406.2022.9797160
ER  - 

@conference{
author = "Zivković, N. and Vidaković, Jelena and Mitrović, S. and Lazarević, Mihailo",
year = "2022",
abstract = "This paper presents a method for the implementation of a robot forward kinematics algorithm that complies with the Denavit-Hartenberg (DH) convention in Robot Operating System (ROS). The integration of the algorithm in ROS is based on the representation of DH parameters in dual quaternion space. The main motivation for the presented research is to make use of ROS powerful visualization tools available in tasks that require robot forward kinematics calculation while keeping the principles of DH robot modeling convention. Implementation of the dual quaternion-based robot forward kinematics algorithm in ROS is demonstrated using a serial 6DoFs robot as an example.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "2022 11th Mediterranean Conference on Embedded Computing, MECO 2022",
title = "Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS",
doi = "10.1109/MECO55406.2022.9797160"
}

Zivković, N., Vidaković, J., Mitrović, S.,& Lazarević, M.. (2022). Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS. in 2022 11th Mediterranean Conference on Embedded Computing, MECO 2022
Institute of Electrical and Electronics Engineers Inc...
https://doi.org/10.1109/MECO55406.2022.9797160

Zivković N, Vidaković J, Mitrović S, Lazarević M. Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS. in 2022 11th Mediterranean Conference on Embedded Computing, MECO 2022. 2022;.
doi:10.1109/MECO55406.2022.9797160 .

Zivković, N., Vidaković, Jelena, Mitrović, S., Lazarević, Mihailo, "Implementation of Dual Quaternion-based Robot Forward Kinematics Algorithm in ROS" in 2022 11th Mediterranean Conference on Embedded Computing, MECO 2022 (2022),
https://doi.org/10.1109/MECO55406.2022.9797160 . .

TY  - CONF
AU  - Vidaković, Jelena
AU  - Lazarević, Mihailo
AU  - Živković, Nikola Lj.
AU  - Stepanić, Pavle
AU  - Mitrović, Stefan
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4081
AB  - Dynamics play a fundamental role in control algorithms synthesis, mechanical structure
design, and motion simulation of robots. The challenge in robot control arises from the nonstationarity and the nonlinear coupling effects in the dynamic model, and many advanced
control strategies have emerged within the robot control problem [1]. Besides the modelling
complexity in the case of multiple DoFs, taking the dynamic model into account within the
design of robot control systems in practice has drawbacks due to potential difficulties in
implementation and errors that stem from structured/unstructured uncertainties. From the
perspective of the appropriate selection of control strategy for a particular robot, control system
performance simulation based on the robot dynamic model is a useful tool [2].
In this paper, a numerical simulation of the computed torque control (CTC) for the 6DoF
industrial robot RL15 is presented. CTC is a feedforward control method used for tracking of
robot’s time-varying trajectories in the presence of varying loads [3]. The method implemented
in this study considers the speed PI controller in the joint space of the robot, with feedforward
compensation of the load torque due to the movement of interconnected robot links. Herein,
the following is taken into account for realistic simulation of control system performance: 1)
resonant properties of the mechanical structure; 2) the effective inertia of the actuator
calculated from the inverse dynamic model; 3) motor torque limits. CTC-based control system
performance is compared with the traditional speed PI controller using the realistic simulation
model.
A dynamic model was developed using the modified recursive Newton-Euler algorithm
(mRNEA). Firstly solution to the inverse dynamics problem has been calculated for the desired
joint trajectories. Obtained actuators’ torques are compared with maximum torques that motors
can achieve, and in a case that these maximum levels have been exceeded, unachievable
torques/forces are replaced with the maximum/minimum possible, and forward dynamics
algorithm has been executed in order to calculate achievable accelerations so that the performed
simulation is realistic. Joints’ velocities and positions are calculated using numerical
integration methods [4] and are used as reference values for control system performance
simulation.
The structural flexibility of robotic manipulators may limit the performance and decrease
the stability of a rigid model-based design of a control system. Given that the rigid modelbased
control strategies are adopted in this study, flexibilities of the mechanical structure are
considered indirectly through the limitation of controller gains for simulation purposes. CAE
software is used for the determination of manipulator dynamic model parameters. For the
developed CAD model of the RL15 robot, the lowest natural frequency of the manipulator is
determined in CAE software and compared with simulated control system bandwidths defined
by controller gains and the effective inertia obtained from numerical simulations of the dynamic model and inertia of employed motors and its gearboxes.
Control system performance simulation has been performed in Simulink software.
Controller gains are selected for the LTI-model with the highest load, i.e. the maximum value
of effective inertia. Dynamic saturation that takes into account motor possibilities depending
on the current robot motion and load has been applied at the controller output. Simulation of the designed control techniques is useful within the appropriate choice of the control strategy regarding achieving a compromise between the complexity of the controller development and its implementation on one side and prospective benefits obtained with controller implementation. Practical implementation possibilities are discussed within the paper.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.
T1  - Computed torque control simulation for 6DOF industrial robot
EP  - 110
SP  - 109
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4081
ER  - 

@conference{
author = "Vidaković, Jelena and Lazarević, Mihailo and Živković, Nikola Lj. and Stepanić, Pavle and Mitrović, Stefan",
year = "2022",
abstract = "Dynamics play a fundamental role in control algorithms synthesis, mechanical structure
design, and motion simulation of robots. The challenge in robot control arises from the nonstationarity and the nonlinear coupling effects in the dynamic model, and many advanced
control strategies have emerged within the robot control problem [1]. Besides the modelling
complexity in the case of multiple DoFs, taking the dynamic model into account within the
design of robot control systems in practice has drawbacks due to potential difficulties in
implementation and errors that stem from structured/unstructured uncertainties. From the
perspective of the appropriate selection of control strategy for a particular robot, control system
performance simulation based on the robot dynamic model is a useful tool [2].
In this paper, a numerical simulation of the computed torque control (CTC) for the 6DoF
industrial robot RL15 is presented. CTC is a feedforward control method used for tracking of
robot’s time-varying trajectories in the presence of varying loads [3]. The method implemented
in this study considers the speed PI controller in the joint space of the robot, with feedforward
compensation of the load torque due to the movement of interconnected robot links. Herein,
the following is taken into account for realistic simulation of control system performance: 1)
resonant properties of the mechanical structure; 2) the effective inertia of the actuator
calculated from the inverse dynamic model; 3) motor torque limits. CTC-based control system
performance is compared with the traditional speed PI controller using the realistic simulation
model.
A dynamic model was developed using the modified recursive Newton-Euler algorithm
(mRNEA). Firstly solution to the inverse dynamics problem has been calculated for the desired
joint trajectories. Obtained actuators’ torques are compared with maximum torques that motors
can achieve, and in a case that these maximum levels have been exceeded, unachievable
torques/forces are replaced with the maximum/minimum possible, and forward dynamics
algorithm has been executed in order to calculate achievable accelerations so that the performed
simulation is realistic. Joints’ velocities and positions are calculated using numerical
integration methods [4] and are used as reference values for control system performance
simulation.
The structural flexibility of robotic manipulators may limit the performance and decrease
the stability of a rigid model-based design of a control system. Given that the rigid modelbased
control strategies are adopted in this study, flexibilities of the mechanical structure are
considered indirectly through the limitation of controller gains for simulation purposes. CAE
software is used for the determination of manipulator dynamic model parameters. For the
developed CAD model of the RL15 robot, the lowest natural frequency of the manipulator is
determined in CAE software and compared with simulated control system bandwidths defined
by controller gains and the effective inertia obtained from numerical simulations of the dynamic model and inertia of employed motors and its gearboxes.
Control system performance simulation has been performed in Simulink software.
Controller gains are selected for the LTI-model with the highest load, i.e. the maximum value
of effective inertia. Dynamic saturation that takes into account motor possibilities depending
on the current robot motion and load has been applied at the controller output. Simulation of the designed control techniques is useful within the appropriate choice of the control strategy regarding achieving a compromise between the complexity of the controller development and its implementation on one side and prospective benefits obtained with controller implementation. Practical implementation possibilities are discussed within the paper.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.",
title = "Computed torque control simulation for 6DOF industrial robot",
pages = "110-109",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4081"
}

Vidaković, J., Lazarević, M., Živković, N. Lj., Stepanić, P.,& Mitrović, S.. (2022). Computed torque control simulation for 6DOF industrial robot. in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.
Univerzitet u Beogradu, Mašinski fakultet., 109-110.
https://hdl.handle.net/21.15107/rcub_machinery_4081

Vidaković J, Lazarević M, Živković NL, Stepanić P, Mitrović S. Computed torque control simulation for 6DOF industrial robot. in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.. 2022;:109-110.
https://hdl.handle.net/21.15107/rcub_machinery_4081 .

Vidaković, Jelena, Lazarević, Mihailo, Živković, Nikola Lj., Stepanić, Pavle, Mitrović, Stefan, "Computed torque control simulation for 6DOF industrial robot" in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022. (2022):109-110,
https://hdl.handle.net/21.15107/rcub_machinery_4081 .

TY  - JOUR
AU  - Živanović, Saša
AU  - Vorkapić, Nikola
AU  - Mitrović, Stefan
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4606
AB  - The application of new additive technologies is based on models STL models of prototypes that will be build. This paper discusses two additive technologies: Fused
Deposition Modeling – FDM and Laser Metal Directed Energy Deposition – Laser DED in terms of program preparation and its verification by simulation of material addition,
i.e. machine simulation for these procedures. The paper presents the programming and program verification using machine simulation of additive manufacturing
tool path in CAD/CAM and Vericut environment. A procedure for configuring and preparing of a virtual machine for several additive process simulations has
been proposed. Simulation is a key technology for program verification. Machine simulation and digital twin are the primary simulation–based approaches in the context of
the Industry 4.0. The paper analyzes the available programming software for generating G code from the STL file as well as the possibility of simulating the virtual
machine when working according to the generated program.
T2  - ACTA TECHNICA CORVINIENSIS– Bulletin of Engineering Tome XV
T1  - Machine simulation of additive manufacturing tool path
EP  - 44
IS  - 4
SP  - 39
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4606
ER  - 

@article{
author = "Živanović, Saša and Vorkapić, Nikola and Mitrović, Stefan",
year = "2022",
abstract = "The application of new additive technologies is based on models STL models of prototypes that will be build. This paper discusses two additive technologies: Fused
Deposition Modeling – FDM and Laser Metal Directed Energy Deposition – Laser DED in terms of program preparation and its verification by simulation of material addition,
i.e. machine simulation for these procedures. The paper presents the programming and program verification using machine simulation of additive manufacturing
tool path in CAD/CAM and Vericut environment. A procedure for configuring and preparing of a virtual machine for several additive process simulations has
been proposed. Simulation is a key technology for program verification. Machine simulation and digital twin are the primary simulation–based approaches in the context of
the Industry 4.0. The paper analyzes the available programming software for generating G code from the STL file as well as the possibility of simulating the virtual
machine when working according to the generated program.",
journal = "ACTA TECHNICA CORVINIENSIS– Bulletin of Engineering Tome XV",
title = "Machine simulation of additive manufacturing tool path",
pages = "44-39",
number = "4",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4606"
}

Živanović, S., Vorkapić, N.,& Mitrović, S.. (2022). Machine simulation of additive manufacturing tool path. in ACTA TECHNICA CORVINIENSIS– Bulletin of Engineering Tome XV(4), 39-44.
https://hdl.handle.net/21.15107/rcub_machinery_4606

Živanović S, Vorkapić N, Mitrović S. Machine simulation of additive manufacturing tool path. in ACTA TECHNICA CORVINIENSIS– Bulletin of Engineering Tome XV. 2022;(4):39-44.
https://hdl.handle.net/21.15107/rcub_machinery_4606 .

Živanović, Saša, Vorkapić, Nikola, Mitrović, Stefan, "Machine simulation of additive manufacturing tool path" in ACTA TECHNICA CORVINIENSIS– Bulletin of Engineering Tome XV, no. 4 (2022):39-44,
https://hdl.handle.net/21.15107/rcub_machinery_4606 .

TY  - CONF
AU  - Nešovanović, Ljubomir
AU  - Živanović, Saša
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4660
AB  - This paper presents modeling and analysis of a virtual machine prototype based on Lambda parallel kinematic mechanism with actuated translation joints. Kinematic modeling includes solving inverse kinematic and workspace analysis of the machine. Verification of inverse kinematic equations has been done analytically using MatLab software and a CAD/CAM system, and the workspace analysis is also done analytically using the polar coordinates.
PB  - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.
T1  - Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints
EP  - 277
SP  - 272
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4660
ER  - 

@conference{
author = "Nešovanović, Ljubomir and Živanović, Saša",
year = "2022",
abstract = "This paper presents modeling and analysis of a virtual machine prototype based on Lambda parallel kinematic mechanism with actuated translation joints. Kinematic modeling includes solving inverse kinematic and workspace analysis of the machine. Verification of inverse kinematic equations has been done analytically using MatLab software and a CAD/CAM system, and the workspace analysis is also done analytically using the polar coordinates.",
publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.",
title = "Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints",
pages = "277-272",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4660"
}

Nešovanović, L.,& Živanović, S.. (2022). Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints. in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.
Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 272-277.
https://hdl.handle.net/21.15107/rcub_machinery_4660

Nešovanović L, Živanović S. Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints. in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.. 2022;:272-277.
https://hdl.handle.net/21.15107/rcub_machinery_4660 .

Nešovanović, Ljubomir, Živanović, Saša, "Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints" in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022. (2022):272-277,
https://hdl.handle.net/21.15107/rcub_machinery_4660 .

TY  - JOUR
AU  - Maletić, Julija
AU  - Živanović, Saša
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4659
AB  - This paper analyzes a kinematic structure of a five axis machine tool to obtain the equations needed for generating a postprocessor for this type of machine. The proposed machine is defined by a serial structure with two rotary axes on the machine table. The derived equations transform the CL data obtained by CAD/CAM software into a G-code that can be implemented on a machine. The analyzed equations were implemented in a postprocessing program using the Matlab software The calculated data was used to verify the movement of the machine axes in a virtual surrounding.
PB  - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
T2  - Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.
T1  - Verification of kinematic equations for a five-axis, table tilting machine tool
EP  - 283
SP  - 278
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4659
ER  - 

@article{
author = "Maletić, Julija and Živanović, Saša",
year = "2022",
abstract = "This paper analyzes a kinematic structure of a five axis machine tool to obtain the equations needed for generating a postprocessor for this type of machine. The proposed machine is defined by a serial structure with two rotary axes on the machine table. The derived equations transform the CL data obtained by CAD/CAM software into a G-code that can be implemented on a machine. The analyzed equations were implemented in a postprocessing program using the Matlab software The calculated data was used to verify the movement of the machine axes in a virtual surrounding.",
publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.",
title = "Verification of kinematic equations for a five-axis, table tilting machine tool",
pages = "283-278",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4659"
}

Maletić, J.,& Živanović, S.. (2022). Verification of kinematic equations for a five-axis, table tilting machine tool. in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.
Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 278-283.
https://hdl.handle.net/21.15107/rcub_machinery_4659

Maletić J, Živanović S. Verification of kinematic equations for a five-axis, table tilting machine tool. in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.. 2022;:278-283.
https://hdl.handle.net/21.15107/rcub_machinery_4659 .

Maletić, Julija, Živanović, Saša, "Verification of kinematic equations for a five-axis, table tilting machine tool" in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022. (2022):278-283,
https://hdl.handle.net/21.15107/rcub_machinery_4659 .

TY  - JOUR
AU  - Nešovanović, Ljubomir
AU  - Živanović, Saša
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4657
AB  - This paper presents workspace and kinematic analysis of a parallel kinematic machine based on the Lambda mechanism. The considered parallel kinematic machine has six degrees of freedom (DOF), achievable with six actuated translation joints. The kinematic analysis includes the definition of every active part of the machine, as well as the definition of every active or passive joint used to connect machine parts. The mathematical model of the machine is created for the better understanding of the machine's operation. The proposed mathematical model of the machine includes inverse kinematic equations, whose solving presents the first step in workspace analysis. In this case, the offered parallel kinematic machine has six active-joint variables, and every active-joint variable is the result of one inverse kinematic equation. Verification of the inverse kinematic equations has been done analytically, using MatLab software and a CAD/CAM system. Workspace analysis, as one of the most important parameters of the parallel kinematic machine, presents the main topic of this paper. In this case two approaches to the workspace analysis are given. The first considered analysis is used to determine the achievable workspace of the machine, and the second analysis is used to determine the total orientation workspace of the machine. Polar coordinates are used to simplify the process of the workspace analysis.
PB  - University of East Sarajevo, Faculty of Electrical Engineering
PB  - Belgrade : Academic Mind
T2  - International Journal of Electrical Engineering and Computing (IJEEC)
T1  - Workspace and Kinematic Structure Analysis of a 6-DOF Lambda Parallel Kinematic Machine
EP  - 8
IS  - 1
SP  - 1
VL  - 6
DO  - 10.7251/IJEEC2206001N
ER  - 

@article{
author = "Nešovanović, Ljubomir and Živanović, Saša",
year = "2022",
abstract = "This paper presents workspace and kinematic analysis of a parallel kinematic machine based on the Lambda mechanism. The considered parallel kinematic machine has six degrees of freedom (DOF), achievable with six actuated translation joints. The kinematic analysis includes the definition of every active part of the machine, as well as the definition of every active or passive joint used to connect machine parts. The mathematical model of the machine is created for the better understanding of the machine's operation. The proposed mathematical model of the machine includes inverse kinematic equations, whose solving presents the first step in workspace analysis. In this case, the offered parallel kinematic machine has six active-joint variables, and every active-joint variable is the result of one inverse kinematic equation. Verification of the inverse kinematic equations has been done analytically, using MatLab software and a CAD/CAM system. Workspace analysis, as one of the most important parameters of the parallel kinematic machine, presents the main topic of this paper. In this case two approaches to the workspace analysis are given. The first considered analysis is used to determine the achievable workspace of the machine, and the second analysis is used to determine the total orientation workspace of the machine. Polar coordinates are used to simplify the process of the workspace analysis.",
publisher = "University of East Sarajevo, Faculty of Electrical Engineering, Belgrade : Academic Mind",
journal = "International Journal of Electrical Engineering and Computing (IJEEC)",
title = "Workspace and Kinematic Structure Analysis of a 6-DOF Lambda Parallel Kinematic Machine",
pages = "8-1",
number = "1",
volume = "6",
doi = "10.7251/IJEEC2206001N"
}

Nešovanović, L.,& Živanović, S.. (2022). Workspace and Kinematic Structure Analysis of a 6-DOF Lambda Parallel Kinematic Machine. in International Journal of Electrical Engineering and Computing (IJEEC)
University of East Sarajevo, Faculty of Electrical Engineering., 6(1), 1-8.
https://doi.org/10.7251/IJEEC2206001N

Nešovanović L, Živanović S. Workspace and Kinematic Structure Analysis of a 6-DOF Lambda Parallel Kinematic Machine. in International Journal of Electrical Engineering and Computing (IJEEC). 2022;6(1):1-8.
doi:10.7251/IJEEC2206001N .

Nešovanović, Ljubomir, Živanović, Saša, "Workspace and Kinematic Structure Analysis of a 6-DOF Lambda Parallel Kinematic Machine" in International Journal of Electrical Engineering and Computing (IJEEC), 6, no. 1 (2022):1-8,
https://doi.org/10.7251/IJEEC2206001N . .

TY  - JOUR
AU  - Maletić, Julija
AU  - Živanović, Saša
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4649
AB  - In this paper, the methodology for verifying inverse kinematic equations is presented. Analysis of the kinematic structure of the machine is shown, which results in the kinematic equations needed for the configuration of the machine's postprocessor. The machine proposed in this paper is a five-axis machine tool with two rotating axes on the spindle. The machine's configuration is X'OYZBA. The derived equations are used to transform the CL data for a test model into a G code used on a
virtual model of the machine tool. A simplified model of the machine is developed using the PTC Creo software, in which the initial testing of the equations was performed. The inverse kinematic equations were implemented in a postprocessing program using the Matlab software. Generated G-code for multi-axis machining process was tested on a virtual machine tool in the Vericut software.
PB  - University of Novi Sad, Faculty of Technical Sciences
T2  - Advanced Technologies and Materials
T1  - Verification of inverse kinematic equations for a five-axis machine tool with a spindle tilting configuration
EP  - 38
IS  - 1
SP  - 33
VL  - 47
DO  - 10.24867/ATM-2022-1-006
ER  - 

@article{
author = "Maletić, Julija and Živanović, Saša",
year = "2022",
abstract = "In this paper, the methodology for verifying inverse kinematic equations is presented. Analysis of the kinematic structure of the machine is shown, which results in the kinematic equations needed for the configuration of the machine's postprocessor. The machine proposed in this paper is a five-axis machine tool with two rotating axes on the spindle. The machine's configuration is X'OYZBA. The derived equations are used to transform the CL data for a test model into a G code used on a
virtual model of the machine tool. A simplified model of the machine is developed using the PTC Creo software, in which the initial testing of the equations was performed. The inverse kinematic equations were implemented in a postprocessing program using the Matlab software. Generated G-code for multi-axis machining process was tested on a virtual machine tool in the Vericut software.",
publisher = "University of Novi Sad, Faculty of Technical Sciences",
journal = "Advanced Technologies and Materials",
title = "Verification of inverse kinematic equations for a five-axis machine tool with a spindle tilting configuration",
pages = "38-33",
number = "1",
volume = "47",
doi = "10.24867/ATM-2022-1-006"
}

Maletić, J.,& Živanović, S.. (2022). Verification of inverse kinematic equations for a five-axis machine tool with a spindle tilting configuration. in Advanced Technologies and Materials
University of Novi Sad, Faculty of Technical Sciences., 47(1), 33-38.
https://doi.org/10.24867/ATM-2022-1-006

Maletić J, Živanović S. Verification of inverse kinematic equations for a five-axis machine tool with a spindle tilting configuration. in Advanced Technologies and Materials. 2022;47(1):33-38.
doi:10.24867/ATM-2022-1-006 .

Maletić, Julija, Živanović, Saša, "Verification of inverse kinematic equations for a five-axis machine tool with a spindle tilting configuration" in Advanced Technologies and Materials, 47, no. 1 (2022):33-38,
https://doi.org/10.24867/ATM-2022-1-006 . .

TY  - GEN
AU  - Dimić, Zoran
AU  - Živanović, Saša
AU  - Rakić, Aleksandar
AU  - Manasijević, Srećko
AU  - Kokotović, Branko
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6954
AB  - Техничко решење припада области управљачких система нумерички управљаних машина алатки имплементираних на бази софтверских алата и хардвера отворене архитектуре, применом метода виртуелног пројектовања (virtual commissioning). Верификован је нов приступ развоју управљања машина алатки са сложеном кинематичком структуром и редундантним осама, применом парадигме дигиталног двојника (Digital Twin). Показана је могућност грешком вођеног развоја система управљања (error driven development), без импликација на реалну машину алатку. Основну суштину предметног техничког решења представља развој и имплементација управљачког система на бази софтвера и хардвера отворене архитектуре у циљу ревитализације вишеосног обрадног центра Bacci MX6 за обраду дрвета. Развојем је верификована метода виртуелног пројектовања, која је омогућила развој вођен грешком без негативних импликација на реалну машину уз повећање ефикасности и продуктивности развојног тима.
PB  - Лола Институт Београд
PB  - Универзитет у Београду, Машински факултет
T2  - Техничко решење (M83) је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер, на седници одржаној 20.10.2021.
T1  - Развој и имплементацијa управљачког система отворене архитектуре на вишеосном обрадном центру за обраду дрвета
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6954
ER  - 

@misc{
author = "Dimić, Zoran and Živanović, Saša and Rakić, Aleksandar and Manasijević, Srećko and Kokotović, Branko",
year = "2021",
abstract = "Техничко решење припада области управљачких система нумерички управљаних машина алатки имплементираних на бази софтверских алата и хардвера отворене архитектуре, применом метода виртуелног пројектовања (virtual commissioning). Верификован је нов приступ развоју управљања машина алатки са сложеном кинематичком структуром и редундантним осама, применом парадигме дигиталног двојника (Digital Twin). Показана је могућност грешком вођеног развоја система управљања (error driven development), без импликација на реалну машину алатку. Основну суштину предметног техничког решења представља развој и имплементација управљачког система на бази софтвера и хардвера отворене архитектуре у циљу ревитализације вишеосног обрадног центра Bacci MX6 за обраду дрвета. Развојем је верификована метода виртуелног пројектовања, која је омогућила развој вођен грешком без негативних импликација на реалну машину уз повећање ефикасности и продуктивности развојног тима.",
publisher = "Лола Институт Београд, Универзитет у Београду, Машински факултет",
journal = "Техничко решење (M83) је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер, на седници одржаној 20.10.2021.",
title = "Развој и имплементацијa управљачког система отворене архитектуре на вишеосном обрадном центру за обраду дрвета",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6954"
}

Dimić, Z., Živanović, S., Rakić, A., Manasijević, S.,& Kokotović, B.. (2021). Развој и имплементацијa управљачког система отворене архитектуре на вишеосном обрадном центру за обраду дрвета. in Техничко решење (M83) је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер, на седници одржаној 20.10.2021.
Лола Институт Београд..
https://hdl.handle.net/21.15107/rcub_machinery_6954

Dimić Z, Živanović S, Rakić A, Manasijević S, Kokotović B. Развој и имплементацијa управљачког система отворене архитектуре на вишеосном обрадном центру за обраду дрвета. in Техничко решење (M83) је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер, на седници одржаној 20.10.2021.. 2021;.
https://hdl.handle.net/21.15107/rcub_machinery_6954 .

Dimić, Zoran, Živanović, Saša, Rakić, Aleksandar, Manasijević, Srećko, Kokotović, Branko, "Развој и имплементацијa управљачког система отворене архитектуре на вишеосном обрадном центру за обраду дрвета" in Техничко решење (M83) је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер, на седници одржаној 20.10.2021. (2021),
https://hdl.handle.net/21.15107/rcub_machinery_6954 .

TY  - CONF
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Rakić, Aleksandar
AU  - Knežević, Mladen
AU  - Mitrović, Stefan
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4721
AB  - This paper presents an open architecture control system for multi‐axis wood computer numerical
control (CNC) milling machining centre, based on LinuxCNC. The wood CNC machining system is
supported by an equivalent virtual machine in a CAD/CAM environment, as well as in the control
system. Simulation within virtual environment is essential for multi‐axis 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 it’s sent to the actual machine, while the virtual machine in the control system represents the final verification of the program, as well as the process monitoring system. Configuration of the
control system and implementation of virtual machines will be shown, along with the conducted
machining experiments that ensued after the successful simulation on developed virtual machines.
PB  - Faculty of Mechanical Engineering University of Banja Luka
C3  - 15th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2021
T1  - An open architecture control system for multi-axis wood CNC machining center
EP  - 119
SP  - 113
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4721
ER  - 

@conference{
author = "Živanović, Saša and Dimić, Zoran and Rakić, Aleksandar and Knežević, Mladen and Mitrović, Stefan",
year = "2021",
abstract = "This paper presents an open architecture control system for multi‐axis wood computer numerical
control (CNC) milling machining centre, based on LinuxCNC. The wood CNC machining system is
supported by an equivalent virtual machine in a CAD/CAM environment, as well as in the control
system. Simulation within virtual environment is essential for multi‐axis 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 it’s sent to the actual machine, while the virtual machine in the control system represents the final verification of the program, as well as the process monitoring system. Configuration of the
control system and implementation of virtual machines will be shown, along with the conducted
machining experiments that ensued after the successful simulation on developed virtual machines.",
publisher = "Faculty of Mechanical Engineering University of Banja Luka",
journal = "15th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2021",
title = "An open architecture control system for multi-axis wood CNC machining center",
pages = "119-113",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4721"
}

Živanović, S., Dimić, Z., Rakić, A., Knežević, M.,& Mitrović, S.. (2021). An open architecture control system for multi-axis wood CNC machining center. in 15th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2021
Faculty of Mechanical Engineering University of Banja Luka., 113-119.
https://hdl.handle.net/21.15107/rcub_machinery_4721

Živanović S, Dimić Z, Rakić A, Knežević M, Mitrović S. An open architecture control system for multi-axis wood CNC machining center. in 15th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2021. 2021;:113-119.
https://hdl.handle.net/21.15107/rcub_machinery_4721 .

Živanović, Saša, Dimić, Zoran, Rakić, Aleksandar, Knežević, Mladen, Mitrović, Stefan, "An open architecture control system for multi-axis wood CNC machining center" in 15th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2021 (2021):113-119,
https://hdl.handle.net/21.15107/rcub_machinery_4721 .

TY  - CONF
AU  - Zivković, Nikola Lj.
AU  - Vidaković, Jelena
AU  - Lazarević, Mihailo
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4089
AB  - Newton-Raphson method is a deterministic numerical method for solving a system of nonlinear equations. In robotics, it is used to solve inverse kinematics problems. In order to converge towards the optimal solution, the Newton-Raphson method requires a good initial value guess, which can be challenging to obtain. The Particle Swarm Optimization (PSO) algorithm is a stochastic optimization technique for solving nonlinear problems. The advantage of the PSO, in this case, is its ability to search a large amount of data. The PSO can narrow down potential solutions close to the optimal solution and use them as an initial guess for the Newton-Raphson method. Then, the Newton-Raphson method takes over and converges towards the desired optimal solution. In this paper, the feasibility of the hybrid PSO-Newton-Raphson algorithm for solution of robot inverse kinematics problem is investigated for a six-degree of freedom robot arm. All six joints of the robot arm are revolute. The cost function for the PSO algorithm is formed as a function of error between the desired and actual position of the robot arm end-effector. The numerical simulation is carried out to verify the applicability of the proposed concept.
PB  - Beograd : Inovacioni centar Masinskog fakulteta
C3  - Book of abstracts, International Conference of Experimental and Numerical Investigations and New Technologies  CNN TECH 2021  46
T1  - Hybrid pso-newton-raphson algorithm for inverse kinematics problem in robotics
EP  - 46
SP  - 46
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4089
ER  - 

@conference{
author = "Zivković, Nikola Lj. and Vidaković, Jelena and Lazarević, Mihailo",
year = "2021",
abstract = "Newton-Raphson method is a deterministic numerical method for solving a system of nonlinear equations. In robotics, it is used to solve inverse kinematics problems. In order to converge towards the optimal solution, the Newton-Raphson method requires a good initial value guess, which can be challenging to obtain. The Particle Swarm Optimization (PSO) algorithm is a stochastic optimization technique for solving nonlinear problems. The advantage of the PSO, in this case, is its ability to search a large amount of data. The PSO can narrow down potential solutions close to the optimal solution and use them as an initial guess for the Newton-Raphson method. Then, the Newton-Raphson method takes over and converges towards the desired optimal solution. In this paper, the feasibility of the hybrid PSO-Newton-Raphson algorithm for solution of robot inverse kinematics problem is investigated for a six-degree of freedom robot arm. All six joints of the robot arm are revolute. The cost function for the PSO algorithm is formed as a function of error between the desired and actual position of the robot arm end-effector. The numerical simulation is carried out to verify the applicability of the proposed concept.",
publisher = "Beograd : Inovacioni centar Masinskog fakulteta",
journal = "Book of abstracts, International Conference of Experimental and Numerical Investigations and New Technologies  CNN TECH 2021  46",
title = "Hybrid pso-newton-raphson algorithm for inverse kinematics problem in robotics",
pages = "46-46",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4089"
}

Zivković, N. Lj., Vidaković, J.,& Lazarević, M.. (2021). Hybrid pso-newton-raphson algorithm for inverse kinematics problem in robotics. in Book of abstracts, International Conference of Experimental and Numerical Investigations and New Technologies  CNN TECH 2021  46
Beograd : Inovacioni centar Masinskog fakulteta., 46-46.
https://hdl.handle.net/21.15107/rcub_machinery_4089

Zivković NL, Vidaković J, Lazarević M. Hybrid pso-newton-raphson algorithm for inverse kinematics problem in robotics. in Book of abstracts, International Conference of Experimental and Numerical Investigations and New Technologies  CNN TECH 2021  46. 2021;:46-46.
https://hdl.handle.net/21.15107/rcub_machinery_4089 .

Zivković, Nikola Lj., Vidaković, Jelena, Lazarević, Mihailo, "Hybrid pso-newton-raphson algorithm for inverse kinematics problem in robotics" in Book of abstracts, International Conference of Experimental and Numerical Investigations and New Technologies  CNN TECH 2021  46 (2021):46-46,
https://hdl.handle.net/21.15107/rcub_machinery_4089 .

TY  - CONF
AU  - Dubonjac, Aleksandar
AU  - Lazarević, Mihailo
AU  - Vidaković, Jelena
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4090
AB  - Iterative learning control (ILC) is a suitable control method for industrial robot applications where they are required to execute repetitive tasks with high precision. In this paper, the impact of trajectory constraints on convergence rates of two constrained state space ILC algorithms is studied. Taking into account that in reality, robot’s operating space is limited, as well as the ILC’s transient error growth problem, the following constrained state space ILC algorithms were applied to the nonlinear 3DoF robot manipulator model: Bounded Error Algorithm (BEA) and Constrained Output Algorithm (CO). Both algorithms force the output trajectory to stay inside the predetermined boundaries defined by the safest distance from the desired trajectory and the coordinate limit, making their convergence rates closely dependent on the selection of these boundaries. Herein, tracking simulations of the desired trajectories defined in the generalized coordinates space were conducted in MATLAB and Simulink environments, with the same feedback and learning parameters applied to both algorithms but with different sets of values for state space boundaries, hypercylinder radius eps  for BEA and, the maximum and the minimum values of the joints’ generalized coordinates Qimax and Qimin   for CO algorithm set in the way that the simulation results are comparable. Simulation results, analysis of the constraint parameters influence on the convergence rates, and their comparisons for the previously mentioned algorithms are shown later in this paper.
PB  - Beograd : Inovacioni centar Masinskog fakulteta
C3  - Book of abstracts, International Conference of Experimental and Numerical Investigations and New Technologies CNN TECH,  2021,  92
T1  - Impact of trajectory constraints on beailc and coilc convergence rates
EP  - 92
SP  - 92
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4090
ER  - 

@conference{
author = "Dubonjac, Aleksandar and Lazarević, Mihailo and Vidaković, Jelena",
year = "2021",
abstract = "Iterative learning control (ILC) is a suitable control method for industrial robot applications where they are required to execute repetitive tasks with high precision. In this paper, the impact of trajectory constraints on convergence rates of two constrained state space ILC algorithms is studied. Taking into account that in reality, robot’s operating space is limited, as well as the ILC’s transient error growth problem, the following constrained state space ILC algorithms were applied to the nonlinear 3DoF robot manipulator model: Bounded Error Algorithm (BEA) and Constrained Output Algorithm (CO). Both algorithms force the output trajectory to stay inside the predetermined boundaries defined by the safest distance from the desired trajectory and the coordinate limit, making their convergence rates closely dependent on the selection of these boundaries. Herein, tracking simulations of the desired trajectories defined in the generalized coordinates space were conducted in MATLAB and Simulink environments, with the same feedback and learning parameters applied to both algorithms but with different sets of values for state space boundaries, hypercylinder radius eps  for BEA and, the maximum and the minimum values of the joints’ generalized coordinates Qimax and Qimin   for CO algorithm set in the way that the simulation results are comparable. Simulation results, analysis of the constraint parameters influence on the convergence rates, and their comparisons for the previously mentioned algorithms are shown later in this paper.",
publisher = "Beograd : Inovacioni centar Masinskog fakulteta",
journal = "Book of abstracts, International Conference of Experimental and Numerical Investigations and New Technologies CNN TECH,  2021,  92",
title = "Impact of trajectory constraints on beailc and coilc convergence rates",
pages = "92-92",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4090"
}

Dubonjac, A., Lazarević, M.,& Vidaković, J.. (2021). Impact of trajectory constraints on beailc and coilc convergence rates. in Book of abstracts, International Conference of Experimental and Numerical Investigations and New Technologies CNN TECH,  2021,  92
Beograd : Inovacioni centar Masinskog fakulteta., 92-92.
https://hdl.handle.net/21.15107/rcub_machinery_4090

Dubonjac A, Lazarević M, Vidaković J. Impact of trajectory constraints on beailc and coilc convergence rates. in Book of abstracts, International Conference of Experimental and Numerical Investigations and New Technologies CNN TECH,  2021,  92. 2021;:92-92.
https://hdl.handle.net/21.15107/rcub_machinery_4090 .

Dubonjac, Aleksandar, Lazarević, Mihailo, Vidaković, Jelena, "Impact of trajectory constraints on beailc and coilc convergence rates" in Book of abstracts, International Conference of Experimental and Numerical Investigations and New Technologies CNN TECH,  2021,  92 (2021):92-92,
https://hdl.handle.net/21.15107/rcub_machinery_4090 .

TY  - CONF
AU  - Dubonjac, Aleksandar
AU  - Lazarević, Mihailo
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4094
AB  - This paper focuses on the effect of the control system parameters on the convergence speed of
two constrained state space Iterative Learning Control (ILC) algorithms: Bounder Error
Algorithm (BEAILC) and Constrained Output Algorithm (COILC), applied to the nonlinear
model of a 3DOF robotic manipulator in presence of recurring disturbance. Analysis and
comparison of previously mentioned algorithms were conducted through simulations. The
obtained results have shown that COILC algorithm converges faster than BEAILC algorithm, as
the BEAILC restricts the output trajectory more rigorously. Simulations have shown that change
in feedback parameters’ values has higher impact on the iteration interruptions (increase will
lower the number of interruptions), while the learning parameters have higher impact on the
whole ILC procedure duration (decrease will require more iterations to achieve the desired
tracking accuracy). Additionally it’s been shown that both algorithms successfully rejected the
recurring disturbance.
PB  - Beograd : Srpsko društvo za mehaniku
C3  - 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.
T1  - Robust constrained state space ILC for 3DOF robot manipulator
EP  - 333
SP  - 326
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4094
ER  - 

@conference{
author = "Dubonjac, Aleksandar and Lazarević, Mihailo",
year = "2021",
abstract = "This paper focuses on the effect of the control system parameters on the convergence speed of
two constrained state space Iterative Learning Control (ILC) algorithms: Bounder Error
Algorithm (BEAILC) and Constrained Output Algorithm (COILC), applied to the nonlinear
model of a 3DOF robotic manipulator in presence of recurring disturbance. Analysis and
comparison of previously mentioned algorithms were conducted through simulations. The
obtained results have shown that COILC algorithm converges faster than BEAILC algorithm, as
the BEAILC restricts the output trajectory more rigorously. Simulations have shown that change
in feedback parameters’ values has higher impact on the iteration interruptions (increase will
lower the number of interruptions), while the learning parameters have higher impact on the
whole ILC procedure duration (decrease will require more iterations to achieve the desired
tracking accuracy). Additionally it’s been shown that both algorithms successfully rejected the
recurring disturbance.",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.",
title = "Robust constrained state space ILC for 3DOF robot manipulator",
pages = "333-326",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4094"
}

Dubonjac, A.,& Lazarević, M.. (2021). Robust constrained state space ILC for 3DOF robot manipulator. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.
Beograd : Srpsko društvo za mehaniku., 326-333.
https://hdl.handle.net/21.15107/rcub_machinery_4094

Dubonjac A, Lazarević M. Robust constrained state space ILC for 3DOF robot manipulator. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.. 2021;:326-333.
https://hdl.handle.net/21.15107/rcub_machinery_4094 .

Dubonjac, Aleksandar, Lazarević, Mihailo, "Robust constrained state space ILC for 3DOF robot manipulator" in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021. (2021):326-333,
https://hdl.handle.net/21.15107/rcub_machinery_4094 .

TY  - CONF
AU  - Zivković, Nikola Lj.
AU  - Lazarević, Mihailo
AU  - Petrović, Milica
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4093
AB  - In this paper, an adaptive iterative learning control algorithm for robotic manipulators is
proposed. A simplified robot manipulator model with 3 degrees of freedom is used as control
object for verification purposes. The mathematical model is obtained via Rodriguez approach for
modeling differential equations of motion for multi-body systems. The model itself is a simple
open-chain kinematic structure. The proposed control system design consists of two layers of
controllers. In the inner loop, feedback linearization is applied to deal with the model
nonlinearities. Post feedback linearization advanced iterative learning control (ILC) algorithm of
sign-D (signum-Derivative) type is introduced as feed-forward compensation with classical PD
(Proportional-Derivative) controller in feedback closed loop. A particle swarm optimization
(PSO) algorithm is used to optimize ILC gain parameters while gains for PD controller are set by
trial and error. Suitable cost function based on position error is chosen for PSO algorithm in order
to ensure convergence. Numerical simulation is carried out in two cases – case with constant
learning gains and case with PSO optimized learning gains. It is observed that the proposed
control law converges to some steady-state error value in both cases.
PB  - Beograd : Srpsko društvo za mehaniku
C3  - 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.
T1  - Adaptive iterative learning control of robotic system based on particle swarm optimization
EP  - 343
SP  - 334
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4093
ER  - 

@conference{
author = "Zivković, Nikola Lj. and Lazarević, Mihailo and Petrović, Milica",
year = "2021",
abstract = "In this paper, an adaptive iterative learning control algorithm for robotic manipulators is
proposed. A simplified robot manipulator model with 3 degrees of freedom is used as control
object for verification purposes. The mathematical model is obtained via Rodriguez approach for
modeling differential equations of motion for multi-body systems. The model itself is a simple
open-chain kinematic structure. The proposed control system design consists of two layers of
controllers. In the inner loop, feedback linearization is applied to deal with the model
nonlinearities. Post feedback linearization advanced iterative learning control (ILC) algorithm of
sign-D (signum-Derivative) type is introduced as feed-forward compensation with classical PD
(Proportional-Derivative) controller in feedback closed loop. A particle swarm optimization
(PSO) algorithm is used to optimize ILC gain parameters while gains for PD controller are set by
trial and error. Suitable cost function based on position error is chosen for PSO algorithm in order
to ensure convergence. Numerical simulation is carried out in two cases – case with constant
learning gains and case with PSO optimized learning gains. It is observed that the proposed
control law converges to some steady-state error value in both cases.",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.",
title = "Adaptive iterative learning control of robotic system based on particle swarm optimization",
pages = "343-334",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4093"
}

Zivković, N. Lj., Lazarević, M.,& Petrović, M.. (2021). Adaptive iterative learning control of robotic system based on particle swarm optimization. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.
Beograd : Srpsko društvo za mehaniku., 334-343.
https://hdl.handle.net/21.15107/rcub_machinery_4093

Zivković NL, Lazarević M, Petrović M. Adaptive iterative learning control of robotic system based on particle swarm optimization. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.. 2021;:334-343.
https://hdl.handle.net/21.15107/rcub_machinery_4093 .

Zivković, Nikola Lj., Lazarević, Mihailo, Petrović, Milica, "Adaptive iterative learning control of robotic system based on particle swarm optimization" in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021. (2021):334-343,
https://hdl.handle.net/21.15107/rcub_machinery_4093 .

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 . .

TY  - JOUR
AU  - Lazarević, Mihailo
AU  - Živković, Nikola
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3361
AB  - U ovom radu predložen je napredni iterativni algoritam kontrole učenja za rehabilitacione egzoskelete. Pojednostavljeni biomehanički model koristi se kao objekt upravljanja kako bi se proverila izvodljivost algoritma upravljanja. Projektovano upravljanje je predloženo kao dvostepeni regulator koji se sastoji od unutrašnje i spoljašnje petlje. U unutrašnjoj petlji primjenjuje se linearizacija kako bi se eliminisala nelinearnost modela. U spoljašnjoj petlji napredni iterativni algoritam upravljanja učenja tipa sgnPDD2 primjenjuje se kao kontroler u direktnoj grani, a klasični PD kontroler kao kontroler u povratnoj grani. Dodaju se nesigurnosti kako bi se ispitala robusnost projektovanog kontrolera. Sprovedena je numerička simulacija.
AB  - In this paper an advanced iterative learning control algorithm for rehabilitation exoskeletons is proposed. A simplified biomechanical model is used as the control object to verify control algorithm feasibility. The control design is proposed as two level controller consisting of inner and outer loop. In the inner loop the feedback linearization is applied to cancel out the model nonlinearities. In the outer loop the advanced iterative learning control algorithm of sgnPDD2 type is applied as a feedforward controller and classical PD controller as a feedback controller. Uncertainties are added in order to examine the controller design robustness. Numerical simulation is carried out.
PB  - Vojnotehnički institut, Beograd
T2  - Scientific Technical Review
T1  - Napredni iterativni algoritam upravljanja učenjem za rehabilitacione egzoskelete
T1  - The advanced iterative learning control algorithm for rehabilitation exoskeletons
EP  - 34
IS  - 3
SP  - 29
VL  - 70
DO  - 10.5937/str2003029L
ER  - 

@article{
author = "Lazarević, Mihailo and Živković, Nikola",
year = "2020",
abstract = "U ovom radu predložen je napredni iterativni algoritam kontrole učenja za rehabilitacione egzoskelete. Pojednostavljeni biomehanički model koristi se kao objekt upravljanja kako bi se proverila izvodljivost algoritma upravljanja. Projektovano upravljanje je predloženo kao dvostepeni regulator koji se sastoji od unutrašnje i spoljašnje petlje. U unutrašnjoj petlji primjenjuje se linearizacija kako bi se eliminisala nelinearnost modela. U spoljašnjoj petlji napredni iterativni algoritam upravljanja učenja tipa sgnPDD2 primjenjuje se kao kontroler u direktnoj grani, a klasični PD kontroler kao kontroler u povratnoj grani. Dodaju se nesigurnosti kako bi se ispitala robusnost projektovanog kontrolera. Sprovedena je numerička simulacija., In this paper an advanced iterative learning control algorithm for rehabilitation exoskeletons is proposed. A simplified biomechanical model is used as the control object to verify control algorithm feasibility. The control design is proposed as two level controller consisting of inner and outer loop. In the inner loop the feedback linearization is applied to cancel out the model nonlinearities. In the outer loop the advanced iterative learning control algorithm of sgnPDD2 type is applied as a feedforward controller and classical PD controller as a feedback controller. Uncertainties are added in order to examine the controller design robustness. Numerical simulation is carried out.",
publisher = "Vojnotehnički institut, Beograd",
journal = "Scientific Technical Review",
title = "Napredni iterativni algoritam upravljanja učenjem za rehabilitacione egzoskelete, The advanced iterative learning control algorithm for rehabilitation exoskeletons",
pages = "34-29",
number = "3",
volume = "70",
doi = "10.5937/str2003029L"
}

Lazarević, M.,& Živković, N.. (2020). Napredni iterativni algoritam upravljanja učenjem za rehabilitacione egzoskelete. in Scientific Technical Review
Vojnotehnički institut, Beograd., 70(3), 29-34.
https://doi.org/10.5937/str2003029L

Lazarević M, Živković N. Napredni iterativni algoritam upravljanja učenjem za rehabilitacione egzoskelete. in Scientific Technical Review. 2020;70(3):29-34.
doi:10.5937/str2003029L .

Lazarević, Mihailo, Živković, Nikola, "Napredni iterativni algoritam upravljanja učenjem za rehabilitacione egzoskelete" in Scientific Technical Review, 70, no. 3 (2020):29-34,
https://doi.org/10.5937/str2003029L . .