TY  - CONF
AU  - Zivković, Nikola
AU  - Vidaković, Jelena
AU  - Dević, Andrija
AU  - Lazarević, Mihailo
AU  - Lazarevic, Ilija
PY  - 2024
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7792
AB  - Industrial robot programming can be a challenging
task, especially in today's age, where robots are more widespread
outside the large manufacturing companies, but rather in small
and medium enterprises where users are not necessarily fully
qualified individuals. The Extended Reality technologies may be
the ongoing answer to improved robot programming experience.
Current solutions for robot programming using Extended Reality
technologies are explored in this overview. In this paper, a
summarized description of certain solutions is given, focusing on
how are the XR technologies utilized in developing the robot
programming systems. Categorization by devices and motion
planners used is also given.
PB  - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024
T1  - An overview of XR technologies usage for industrial robot programming
EP  - 221
SP  - 218
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7792
ER  - 

@conference{
author = "Zivković, Nikola and Vidaković, Jelena and Dević, Andrija and Lazarević, Mihailo and Lazarevic, Ilija",
year = "2024",
abstract = "Industrial robot programming can be a challenging
task, especially in today's age, where robots are more widespread
outside the large manufacturing companies, but rather in small
and medium enterprises where users are not necessarily fully
qualified individuals. The Extended Reality technologies may be
the ongoing answer to improved robot programming experience.
Current solutions for robot programming using Extended Reality
technologies are explored in this overview. In this paper, a
summarized description of certain solutions is given, focusing on
how are the XR technologies utilized in developing the robot
programming systems. Categorization by devices and motion
planners used is also given.",
publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024",
title = "An overview of XR technologies usage for industrial robot programming",
pages = "221-218",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7792"
}

Zivković, N., Vidaković, J., Dević, A., Lazarević, M.,& Lazarevic, I.. (2024). An overview of XR technologies usage for industrial robot programming. in Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024
Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 218-221.
https://hdl.handle.net/21.15107/rcub_machinery_7792

Zivković N, Vidaković J, Dević A, Lazarević M, Lazarevic I. An overview of XR technologies usage for industrial robot programming. in Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024. 2024;:218-221.
https://hdl.handle.net/21.15107/rcub_machinery_7792 .

Zivković, Nikola, Vidaković, Jelena, Dević, Andrija, Lazarević, Mihailo, Lazarevic, Ilija, "An overview of XR technologies usage for industrial robot programming" in Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024 (2024):218-221,
https://hdl.handle.net/21.15107/rcub_machinery_7792 .

TY  - CONF
AU  - Vidaković, Jelena
AU  - Dević, Andrija
AU  - Zivković, Nikola
AU  - Kvrgić, Vladimir
AU  - Lazarević, Mihailo
PY  - 2024
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7791
AB  - In this paper, the implementation of the solution of the
inverse kinematics problem for the 6DoF industrial robot arm in
the Unity game engine is presented. Unity, one of the most
popular game engines, is a very powerful tool and a leading
platform for creating XR applications. Two different methods for
the implementation of the solution of the inverse kinematics
problem have been proposed: 1) Development and
implementation of the inverse kinematics algorithm of a specific
robot, and 2) Using inverse kinematics solvers by integration of
Unity with dedicated robotics development frameworks. For
verification of the proposed procedures, a serial robot with
cylindrical joints RL15 is used.
PB  - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024
T1  - Implementation of inverse kinematics algorithm for 6DoF robot arm in Unity
EP  - 64
SP  - 60
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7791
ER  - 

@conference{
author = "Vidaković, Jelena and Dević, Andrija and Zivković, Nikola and Kvrgić, Vladimir and Lazarević, Mihailo",
year = "2024",
abstract = "In this paper, the implementation of the solution of the
inverse kinematics problem for the 6DoF industrial robot arm in
the Unity game engine is presented. Unity, one of the most
popular game engines, is a very powerful tool and a leading
platform for creating XR applications. Two different methods for
the implementation of the solution of the inverse kinematics
problem have been proposed: 1) Development and
implementation of the inverse kinematics algorithm of a specific
robot, and 2) Using inverse kinematics solvers by integration of
Unity with dedicated robotics development frameworks. For
verification of the proposed procedures, a serial robot with
cylindrical joints RL15 is used.",
publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024",
title = "Implementation of inverse kinematics algorithm for 6DoF robot arm in Unity",
pages = "64-60",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7791"
}

Vidaković, J., Dević, A., Zivković, N., Kvrgić, V.,& Lazarević, M.. (2024). Implementation of inverse kinematics algorithm for 6DoF robot arm in Unity. in Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024
Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 60-64.
https://hdl.handle.net/21.15107/rcub_machinery_7791

Vidaković J, Dević A, Zivković N, Kvrgić V, Lazarević M. Implementation of inverse kinematics algorithm for 6DoF robot arm in Unity. in Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024. 2024;:60-64.
https://hdl.handle.net/21.15107/rcub_machinery_7791 .

Vidaković, Jelena, Dević, Andrija, Zivković, Nikola, Kvrgić, Vladimir, Lazarević, Mihailo, "Implementation of inverse kinematics algorithm for 6DoF robot arm in Unity" in Zbornik  radova  23rd International Symposium INFOTEH-JAHORINA, 20-22 March 2024 (2024):60-64,
https://hdl.handle.net/21.15107/rcub_machinery_7791 .

TY  - JOUR
AU  - Zivković, Nikola
AU  - Vidaković, Jelena
AU  - Lazarević, Mihailo
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6978
AB  - Forward kinematics is fundamental to robot design, control, and simulation. Different forward kinematics algorithms have been developed to deal with the complex geometry of a robot. This paper presents a robot forward kinematics algorithm in dual quaternion space. The presented method uses Denavit-Hartenberg (DH) convention for uniform definition of successive rotational and translational transformations in joints along the robot’s kinematic chain. This research aims to utilize the advantages of dual quaternions and DH convection for forward kinematics computation and make the algorithm, which is compact, intuitive, numerically robust, and computationally efficient as it uses the minimal number of parameters required for the computation, suitable for implementation in ROS and similar software. The algorithm is verified on the 6DoF industrial robot RL15, with the symbolic equations and numerical simulation presented.
PB  - Novi Sad : The Association of Intellectuals for the Development of Science in Serbia – “The Serbian Academic Center”
T2  - Applied Engineering Letters
T1  - FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION
EP  - 59
IS  - 2
SP  - 52
VL  - 8
DO  - 10.18485/aeletters.2023.8.2.2
ER  - 

@article{
author = "Zivković, Nikola and Vidaković, Jelena and Lazarević, Mihailo",
year = "2023",
abstract = "Forward kinematics is fundamental to robot design, control, and simulation. Different forward kinematics algorithms have been developed to deal with the complex geometry of a robot. This paper presents a robot forward kinematics algorithm in dual quaternion space. The presented method uses Denavit-Hartenberg (DH) convention for uniform definition of successive rotational and translational transformations in joints along the robot’s kinematic chain. This research aims to utilize the advantages of dual quaternions and DH convection for forward kinematics computation and make the algorithm, which is compact, intuitive, numerically robust, and computationally efficient as it uses the minimal number of parameters required for the computation, suitable for implementation in ROS and similar software. The algorithm is verified on the 6DoF industrial robot RL15, with the symbolic equations and numerical simulation presented.",
publisher = "Novi Sad : The Association of Intellectuals for the Development of Science in Serbia – “The Serbian Academic Center”",
journal = "Applied Engineering Letters",
title = "FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION",
pages = "59-52",
number = "2",
volume = "8",
doi = "10.18485/aeletters.2023.8.2.2"
}

Zivković, N., Vidaković, J.,& Lazarević, M.. (2023). FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION. in Applied Engineering Letters
Novi Sad : The Association of Intellectuals for the Development of Science in Serbia – “The Serbian Academic Center”., 8(2), 52-59.
https://doi.org/10.18485/aeletters.2023.8.2.2

Zivković N, Vidaković J, Lazarević M. FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION. in Applied Engineering Letters. 2023;8(2):52-59.
doi:10.18485/aeletters.2023.8.2.2 .

Zivković, Nikola, Vidaković, Jelena, Lazarević, Mihailo, "FORWARD KINEMATICS ALGORITHM IN DUAL QUATERNION SPACE BASED ON DENAVIT-HARTENBERG CONVENTION" in Applied Engineering Letters, 8, no. 2 (2023):52-59,
https://doi.org/10.18485/aeletters.2023.8.2.2 . .

TY  - JOUR
AU  - Stefanović, Predrag Lj.
AU  - Zivković, Nikola V.
AU  - Stojiljković, Dragoslava
AU  - Jovanović, Vladimir
AU  - Erić, Milić D.
AU  - Marković, Zoran J.
AU  - Cvetinović, Dejan
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3239
AB  - The anthropogenic emission of GHG especially CO has to be limited and reduced due to their impact on global warming and climate change. Combustion of fossil fuels in the energy sector has a dominant share in total GHG emissions. In order to reduce GHG emission, European Union established a scheme for GHG allowance trading within the community, and the implementation of the European Union emission trading scheme, which is a key to GHG reduction in a cost-effective way. An important part of emission trading scheme is prescribed methodology for monitoring, reporting, and verification of the emission of GHG including characterization of the local fuels combusted by the energy sector. This paper presents lignite characteristics from open-pit mine Borovica-Pljevlja, which has highest coal production in Montenegro (>1.2 Mt per year), including evaluation of its carbon emission factor based on the laboratory analysis of 72 coal samples. Testing of the samples included proximate and ultimate analysis, as well as, net calorific value determination. In accordance with the obtained results, linear correlations between net calorific value and combustible matter content, carbon content and combustible matter content, hydrogen content and combustible matter content, carbon content and net calorific value, were established. Finally, the non-linear analytical correlation between carbon emission factor and net calorific value for Pljevlja lignite was proposed, as a base for the precise calculation of CO emission evaluation.
PB  - Univerzitet u Beogradu - Institut za nuklearne nauke Vinča, Beograd
T2  - Thermal Science
T1  - Pljevlja lignite carbon emission charateristics
EP  - S1531
SP  - S1523
VL  - 23
DO  - 10.2298/TSCI180726288S
ER  - 

@article{
author = "Stefanović, Predrag Lj. and Zivković, Nikola V. and Stojiljković, Dragoslava and Jovanović, Vladimir and Erić, Milić D. and Marković, Zoran J. and Cvetinović, Dejan",
year = "2019",
abstract = "The anthropogenic emission of GHG especially CO has to be limited and reduced due to their impact on global warming and climate change. Combustion of fossil fuels in the energy sector has a dominant share in total GHG emissions. In order to reduce GHG emission, European Union established a scheme for GHG allowance trading within the community, and the implementation of the European Union emission trading scheme, which is a key to GHG reduction in a cost-effective way. An important part of emission trading scheme is prescribed methodology for monitoring, reporting, and verification of the emission of GHG including characterization of the local fuels combusted by the energy sector. This paper presents lignite characteristics from open-pit mine Borovica-Pljevlja, which has highest coal production in Montenegro (>1.2 Mt per year), including evaluation of its carbon emission factor based on the laboratory analysis of 72 coal samples. Testing of the samples included proximate and ultimate analysis, as well as, net calorific value determination. In accordance with the obtained results, linear correlations between net calorific value and combustible matter content, carbon content and combustible matter content, hydrogen content and combustible matter content, carbon content and net calorific value, were established. Finally, the non-linear analytical correlation between carbon emission factor and net calorific value for Pljevlja lignite was proposed, as a base for the precise calculation of CO emission evaluation.",
publisher = "Univerzitet u Beogradu - Institut za nuklearne nauke Vinča, Beograd",
journal = "Thermal Science",
title = "Pljevlja lignite carbon emission charateristics",
pages = "S1531-S1523",
volume = "23",
doi = "10.2298/TSCI180726288S"
}

Stefanović, P. Lj., Zivković, N. V., Stojiljković, D., Jovanović, V., Erić, M. D., Marković, Z. J.,& Cvetinović, D.. (2019). Pljevlja lignite carbon emission charateristics. in Thermal Science
Univerzitet u Beogradu - Institut za nuklearne nauke Vinča, Beograd., 23, S1523-S1531.
https://doi.org/10.2298/TSCI180726288S

Stefanović PL, Zivković NV, Stojiljković D, Jovanović V, Erić MD, Marković ZJ, Cvetinović D. Pljevlja lignite carbon emission charateristics. in Thermal Science. 2019;23:S1523-S1531.
doi:10.2298/TSCI180726288S .

Stefanović, Predrag Lj., Zivković, Nikola V., Stojiljković, Dragoslava, Jovanović, Vladimir, Erić, Milić D., Marković, Zoran J., Cvetinović, Dejan, "Pljevlja lignite carbon emission charateristics" in Thermal Science, 23 (2019):S1523-S1531,
https://doi.org/10.2298/TSCI180726288S . .