TY  - JOUR
AU  - Vukobratović, Miomir
AU  - Potkonjak, Veljko
AU  - Matijević, Vladimir
PY  - 2000
UR  - https://dais.sanu.ac.rs/123456789/3862
AB  - The research follows the concept of variable geometry. The concept was originally introduced for general mechanical system in order to improve its dynamic behaviour. Here, we apply the concept to robots. It can be shown that enhancement of robot dynamic performances is achieved. In this paper variation of geometry is considered equally as the motion in robot joints. Thus, a new set of degrees of freedom is introduced. This leads to redundancy - different internal motions are possible for the given external motion of the end-effector. However, there is an important difference from the usual notion of redundancy. Here, the additional joints do not influence the external motion and accordingly cannot improve the end-effector ability for maneuvering. For this reason the new notion is defined the internal redundancy. Although variation of geometry is treated equally with the motion in robot joints, there is still a difference in the aim of these new degrees of freedom. They should contribute to overcoming the limits of robot actuators, achieving better static compensation, etc. One might say that internal redundancy improves the robot dynamic capabilities. In this paper the mathematical formulation of kinematics and dynamics of robots with internal redundancy is carried out. A case study is presented in order to support the main idea.
PB  - Dordrecht : Kluwer Academic Publishers
T2  - Journal of Intelligent and Robotic Systems: Theory and Applications
T1  - Internal redundancy - the way to improve robot dynamics and control performances
SP  - 31
EP  - 66
VL  - 27
IS  - 1-2
DO  - 10.1023/A:1008141912804
UR  - https://hdl.handle.net/21.15107/rcub_dais_3862
ER  - 

@article{
author = "Vukobratović, Miomir and Potkonjak, Veljko and Matijević, Vladimir",
year = "2000",
abstract = "The research follows the concept of variable geometry. The concept was originally introduced for general mechanical system in order to improve its dynamic behaviour. Here, we apply the concept to robots. It can be shown that enhancement of robot dynamic performances is achieved. In this paper variation of geometry is considered equally as the motion in robot joints. Thus, a new set of degrees of freedom is introduced. This leads to redundancy - different internal motions are possible for the given external motion of the end-effector. However, there is an important difference from the usual notion of redundancy. Here, the additional joints do not influence the external motion and accordingly cannot improve the end-effector ability for maneuvering. For this reason the new notion is defined the internal redundancy. Although variation of geometry is treated equally with the motion in robot joints, there is still a difference in the aim of these new degrees of freedom. They should contribute to overcoming the limits of robot actuators, achieving better static compensation, etc. One might say that internal redundancy improves the robot dynamic capabilities. In this paper the mathematical formulation of kinematics and dynamics of robots with internal redundancy is carried out. A case study is presented in order to support the main idea.",
publisher = "Dordrecht : Kluwer Academic Publishers",
journal = "Journal of Intelligent and Robotic Systems: Theory and Applications",
title = "Internal redundancy - the way to improve robot dynamics and control performances",
pages = "31-66",
volume = "27",
number = "1-2",
doi = "10.1023/A:1008141912804",
url = "https://hdl.handle.net/21.15107/rcub_dais_3862"
}

Vukobratović, M., Potkonjak, V.,& Matijević, V.. (2000). Internal redundancy - the way to improve robot dynamics and control performances. in Journal of Intelligent and Robotic Systems: Theory and Applications
Dordrecht : Kluwer Academic Publishers., 27(1-2), 31-66.
https://doi.org/10.1023/A:1008141912804
https://hdl.handle.net/21.15107/rcub_dais_3862

Vukobratović M, Potkonjak V, Matijević V. Internal redundancy - the way to improve robot dynamics and control performances. in Journal of Intelligent and Robotic Systems: Theory and Applications. 2000;27(1-2):31-66.
doi:10.1023/A:1008141912804
https://hdl.handle.net/21.15107/rcub_dais_3862 .

Vukobratović, Miomir, Potkonjak, Veljko, Matijević, Vladimir, "Internal redundancy - the way to improve robot dynamics and control performances" in Journal of Intelligent and Robotic Systems: Theory and Applications, 27, no. 1-2 (2000):31-66,
https://doi.org/10.1023/A:1008141912804 .,
https://hdl.handle.net/21.15107/rcub_dais_3862 .

TY  - CONF
AU  - Vukobratović, Miomir
AU  - Karan, Branko
AU  - Kirćanski, Manja
AU  - Kirćanski, Nenad
PY  - 1986
UR  - https://dais.sanu.ac.rs/123456789/15435
AB  - U radu je prikazan koncept novog upravljačkog sistema razvijenog u Institutu "Mihailo Pupin", namenjenog za upravljanje manipulacionim robotima opšte namene. Upravljački sistem sastoji se iz 3 procesora u paralelnom radu. Prvi procesor namenjen je za komunikaciju sa korisnikom i sinhronizaciju rada sistema sa okolinom (komunikacioni procesor), drugi (kinematički procesor) prevodi spoljašnje koordinate u unutrašnje, a treći (dinamički procesor) obezbeđuje praćenje zadatih trajektorija. Procesorske ploče su realizovane na bazi mikroprocesora Intel 8086 i koprocesora 8087 sa taktom od 8 MHz.
AB  - This paper presents a concept of a new robot controller developed in "Mihailo Pupin" Institute. The controller consists of 3 parallel processor units. The first unit is intended for comunication with a user and synchronization of the system operation with its environment (communication processor). The second unit (kinematic processor) transforms world coordinates into joint angles, and the third (dynamic processor) enables quality tracking of imposed trajectories. The processor boards are based on Intel 8086 microprocessors and 8087 coprocessors running at 8 MHz clock.
PB  - Herceg Novi : Jugoslovenski savez za ETAN
C3  - Zbornik radova / XXX jugoslovenska konferencija ETAN-a, Herceg Novi, 2-6. juna 1986.
T1  - Koncept multiprocesorskog upravljačkog sistema robota
T1  - Concept of multiprocessor robot control system
SP  - 143
EP  - 148
UR  - https://hdl.handle.net/21.15107/rcub_dais_15435
ER  - 

@conference{
author = "Vukobratović, Miomir and Karan, Branko and Kirćanski, Manja and Kirćanski, Nenad",
year = "1986",
abstract = "U radu je prikazan koncept novog upravljačkog sistema razvijenog u Institutu "Mihailo Pupin", namenjenog za upravljanje manipulacionim robotima opšte namene. Upravljački sistem sastoji se iz 3 procesora u paralelnom radu. Prvi procesor namenjen je za komunikaciju sa korisnikom i sinhronizaciju rada sistema sa okolinom (komunikacioni procesor), drugi (kinematički procesor) prevodi spoljašnje koordinate u unutrašnje, a treći (dinamički procesor) obezbeđuje praćenje zadatih trajektorija. Procesorske ploče su realizovane na bazi mikroprocesora Intel 8086 i koprocesora 8087 sa taktom od 8 MHz., This paper presents a concept of a new robot controller developed in "Mihailo Pupin" Institute. The controller consists of 3 parallel processor units. The first unit is intended for comunication with a user and synchronization of the system operation with its environment (communication processor). The second unit (kinematic processor) transforms world coordinates into joint angles, and the third (dynamic processor) enables quality tracking of imposed trajectories. The processor boards are based on Intel 8086 microprocessors and 8087 coprocessors running at 8 MHz clock.",
publisher = "Herceg Novi : Jugoslovenski savez za ETAN",
journal = "Zbornik radova / XXX jugoslovenska konferencija ETAN-a, Herceg Novi, 2-6. juna 1986.",
title = "Koncept multiprocesorskog upravljačkog sistema robota, Concept of multiprocessor robot control system",
pages = "143-148",
url = "https://hdl.handle.net/21.15107/rcub_dais_15435"
}

Vukobratović, M., Karan, B., Kirćanski, M.,& Kirćanski, N.. (1986). Koncept multiprocesorskog upravljačkog sistema robota. in Zbornik radova / XXX jugoslovenska konferencija ETAN-a, Herceg Novi, 2-6. juna 1986.
Herceg Novi : Jugoslovenski savez za ETAN., 143-148.
https://hdl.handle.net/21.15107/rcub_dais_15435

Vukobratović M, Karan B, Kirćanski M, Kirćanski N. Koncept multiprocesorskog upravljačkog sistema robota. in Zbornik radova / XXX jugoslovenska konferencija ETAN-a, Herceg Novi, 2-6. juna 1986.. 1986;:143-148.
https://hdl.handle.net/21.15107/rcub_dais_15435 .

Vukobratović, Miomir, Karan, Branko, Kirćanski, Manja, Kirćanski, Nenad, "Koncept multiprocesorskog upravljačkog sistema robota" in Zbornik radova / XXX jugoslovenska konferencija ETAN-a, Herceg Novi, 2-6. juna 1986. (1986):143-148,
https://hdl.handle.net/21.15107/rcub_dais_15435 .

TY  - JOUR
AU  - Vukobratović, Miomir
AU  - Karan, Branko
AU  - Kirćanski, Nenad
AU  - Stokić, Dragan
PY  - 1985
UR  - https://dais.sanu.ac.rs/123456789/15424
AB  - Design features of a software system for programming industrial robots with dynamic control are described. The software is intended for implementation an a microprocessor-based system and should enable the user to control a robot via specialized programming language RL. The paper contains description of the RL language and description of the system structure. Main characteristics and advantages of the system as well as questions concerning its realization on existing microprocessors are also discussed.
T2  - Automatika
T1  - A software system for teaching and commanding the industrial robots
SP  - 145
EP  - 152
VL  - 26
IS  - 3-4
UR  - https://hdl.handle.net/21.15107/rcub_dais_15424
ER  - 

@article{
author = "Vukobratović, Miomir and Karan, Branko and Kirćanski, Nenad and Stokić, Dragan",
year = "1985",
abstract = "Design features of a software system for programming industrial robots with dynamic control are described. The software is intended for implementation an a microprocessor-based system and should enable the user to control a robot via specialized programming language RL. The paper contains description of the RL language and description of the system structure. Main characteristics and advantages of the system as well as questions concerning its realization on existing microprocessors are also discussed.",
journal = "Automatika",
title = "A software system for teaching and commanding the industrial robots",
pages = "145-152",
volume = "26",
number = "3-4",
url = "https://hdl.handle.net/21.15107/rcub_dais_15424"
}

Vukobratović, M., Karan, B., Kirćanski, N.,& Stokić, D.. (1985). A software system for teaching and commanding the industrial robots. in Automatika, 26(3-4), 145-152.
https://hdl.handle.net/21.15107/rcub_dais_15424

Vukobratović M, Karan B, Kirćanski N, Stokić D. A software system for teaching and commanding the industrial robots. in Automatika. 1985;26(3-4):145-152.
https://hdl.handle.net/21.15107/rcub_dais_15424 .

Vukobratović, Miomir, Karan, Branko, Kirćanski, Nenad, Stokić, Dragan, "A software system for teaching and commanding the industrial robots" in Automatika, 26, no. 3-4 (1985):145-152,
https://hdl.handle.net/21.15107/rcub_dais_15424 .

TY  - CONF
AU  - Vukobratović, Miomir
AU  - Kirćanski, Nenad
AU  - Stokić, Dragan
AU  - Kirćanski, Manja
AU  - Karan, Branko
PY  - 1984
UR  - https://dais.sanu.ac.rs/123456789/850
AB  - The general-purpose controller for industrial robots of arbitrary type is described. It enables control of robots powered by DC electromotors or hydraulic actuators. The controller includes programs for communication with operators, robot program language, program for on-line robot kinematics, and program for direct digital servosystems for tracking trajectories including on-line dynamics of the robot. The controller is implemented on two microcomputers based on INTEL 8086 microprocessors. All parts of the controller hardware and software are briefly described. Implementation of on-line kinematics and on-line dynamics and the choice of the control law are considered in more details.
PB  - Belgrade : Mihajlo Pupin Institute
C3  - Proceedings of the 2nd Yugoslav-Soviet Symposium on Applied Robotics, Aranđelovac, Yugoslavia, 1984
T1  - General-purpose controller for industrial manipulators
SP  - 1
EP  - 15
UR  - https://hdl.handle.net/21.15107/rcub_dais_850
ER  - 

@conference{
author = "Vukobratović, Miomir and Kirćanski, Nenad and Stokić, Dragan and Kirćanski, Manja and Karan, Branko",
year = "1984",
abstract = "The general-purpose controller for industrial robots of arbitrary type is described. It enables control of robots powered by DC electromotors or hydraulic actuators. The controller includes programs for communication with operators, robot program language, program for on-line robot kinematics, and program for direct digital servosystems for tracking trajectories including on-line dynamics of the robot. The controller is implemented on two microcomputers based on INTEL 8086 microprocessors. All parts of the controller hardware and software are briefly described. Implementation of on-line kinematics and on-line dynamics and the choice of the control law are considered in more details.",
publisher = "Belgrade : Mihajlo Pupin Institute",
journal = "Proceedings of the 2nd Yugoslav-Soviet Symposium on Applied Robotics, Aranđelovac, Yugoslavia, 1984",
title = "General-purpose controller for industrial manipulators",
pages = "1-15",
url = "https://hdl.handle.net/21.15107/rcub_dais_850"
}

Vukobratović, M., Kirćanski, N., Stokić, D., Kirćanski, M.,& Karan, B.. (1984). General-purpose controller for industrial manipulators. in Proceedings of the 2nd Yugoslav-Soviet Symposium on Applied Robotics, Aranđelovac, Yugoslavia, 1984
Belgrade : Mihajlo Pupin Institute., 1-15.
https://hdl.handle.net/21.15107/rcub_dais_850

Vukobratović M, Kirćanski N, Stokić D, Kirćanski M, Karan B. General-purpose controller for industrial manipulators. in Proceedings of the 2nd Yugoslav-Soviet Symposium on Applied Robotics, Aranđelovac, Yugoslavia, 1984. 1984;:1-15.
https://hdl.handle.net/21.15107/rcub_dais_850 .

Vukobratović, Miomir, Kirćanski, Nenad, Stokić, Dragan, Kirćanski, Manja, Karan, Branko, "General-purpose controller for industrial manipulators" in Proceedings of the 2nd Yugoslav-Soviet Symposium on Applied Robotics, Aranđelovac, Yugoslavia, 1984 (1984):1-15,
https://hdl.handle.net/21.15107/rcub_dais_850 .