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

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

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

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

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

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

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

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

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

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