Petar B. PetrovicUniversity of Belgrade · Faculty of Mechanical Engineering, Production Eng. Dpt.
Petar B. Petrovic
Professor Dr.-Ing
About
48
Publications
14,432
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194
Citations
Citations since 2017
Publications
Publications (48)
The most basic and primary skills of a robot are pushing and grasping. In cluttered scenes, push to make room for arms and fingers to grasp objects. We propose a modified Actor-Critic (A-C) framework for deep reinforcement learning, Cross-entropy Softmax A-C (CSAC), and use the Prioritized Experience Replay (PER) based on the theoretical foundation...
In a cavitating water jet, cavity clouds emerge and collapse with an unsteady, but periodic tendency where the frequencies depend on the working conditions. The presented work aims at examining and analyze the dynamic behavior and properties of the clouds under different circumstances. Computer vision and image processing were introduced as tools t...
Production paradigm of mass customization and development of highly complex products impose the need for development and using xR technologies in manufacturing. Immersive technologies (xR) are currently the best solution for human-machine interfaces and as such are great candidate for further development and usage in industry. In this paper, a way...
Purpose
Stiffness control of redundant robot arm, aimed at using extra degrees of freedom (DoF) to shape the robot tool center point (TCP) elastomechanical behavior to be consistent with the essential requirements needed for a successful part mating process, i.e., to mimic part supporting mechanism with selective quasi-isotropic compliance (Remote...
Advancements in the study of the human sense of touch are fueling the field of haptics. This is paving the way for augmenting sensory perception during object palpation in tele-surgery and reproducing the sensed information through tactile feedback. Here, we present a novel tele-palpation apparatus that enables the user to detect nodules with vario...
A platform dedicated to the problems of engineering education (EngEdu) has been established by European Council of Academies of Applied Sciences, Technologies and Engineering (Euro-CASE). The renewed working group (WG) of this EngEdu Platform started to work in Sept. 2017 and now tries to establish a direct link with REV conference participants and...
The advancements in the study of the human sense of touch are fueling the field of haptics. This is paving the way for augmenting the sensory perception during objects palpation in tele-surgery, and reproducing the information through tactile feedback. Here, we present a novel tele-palpation apparatus that enables the user to detect nodules with va...
Research on bidirectional human-machine interfaces will enable the smooth interaction with robotic platforms in contexts ranging from industry to tele-medicine and rescue. This paper introduces a bidirectional communication system to achieve multisensory telepresence during the gestural control of an industrial robotic arm. We complement the gestur...
We present a tactile telepresence system for real-time transmission of information about object stiffness to the human fingertips. Experimental tests were performed across two laboratories (Italy and Ireland). In the Italian laboratory, a mechatronic sensing platform indented different rubber samples. Information about rubber stiffness was converte...
When the robot endpoint compliance is dominantly influenced by theflexibility of its joints, the robot taskspace generalized stiffness matrix canbe mapped onto jointspace using appropriate congruence transformation. Thus produced, the jointspace stiffness matrix is generally nondiagonal. Off-diagonal elements can be generated by redundant actuation...
This two-part paper presents an approach to the control of robot endpoint compliance, i.e., elasto-mechanical interaction between a robot and its environment using kinematic redundancy instead of actuation redundancy. In Part I this approach is developed by proposing the Configuration-based Stiffness Control (CSC) method for kinetostatically consis...
Purpose
– The purpose of this paper is to provide a method for the generation of information machines for part mating process diagnosis. Recognition of contact states between parts during robotized part mating represents a significant element of the system for active compliant robot motion. All proposed information machines for contact states reco...
This paper presents theoretical and experimental aspects of Jacobian
nullspace use in kinematically redundant robots for achieving
kinetostatically consistent control of their compliant behavior. When the
stiffness of the robot endpoint is dominantly influenced by the compliance of
the robot joints, generalized stiffness matrix can be mapped into j...
This chapter presents the conceptual framework of humanoid robot application in the field of non-invasive medical diagnostics based on interactive ultrasound scanning and spatial visualisation of sonograms. Humanoid robots appear in this context as intelligent assistants which enable acquisition of 3D sonograms using the conventional ultrasound pro...
The paper presents some results of the research that has been systematically conducted over a long period at the Academy of Engineering Sciences of Serbia (AINS) in the area of modern industrial and especially manufac� turing technologies, as well as interactions among engineering sciences, technology and the society. The issue of industrialization...
This paper presents a methodology for generating a fuzzy inference mechanism (FIM) for recognizing contact states within robotic part mating using active compliant motion. In the part mating process, significant uncertainties are inherently present. As a result it is pertinent that contact states recognition systems operating in such environment be...
In this paper we review an experimental investigation of the influence of tool wear on the chip-forming mechanism and the type of segmentation while turning. A direct microscopic analysis of the chip was used to determine the correlation between the tool-wear degree and the morphology of the chip cross-section. During the machining process the vibr...
In this paper we review an experimental investigation of the influence of tool wear on the chip-forming mechanism and the type of segmentation while turning. A direct microscopic analysis of the chip was used to determine the correlation between the tool-wear degree and the morphology of the chip cross-section. During the machining process the vibr...
Presented in this paper is a comparative analysis of vibrations, measured during machining process and modelled by FEM. Moreover, microscopic structure of chip cross section was analyzed in order to establish the frequency of lamellae generation and its influence on the total level of vibrations of the cutting tool. Based on the results thus obtain...
In order to autonomously execute part mating, an intelligent robot should be able to carry out active compliant motion. Contact
states recognition machine is a missing link for implementation of this kind of motion within an intelligent robotic assembly
system. In this paper, we present an approach to design contact states recognition machines for...
This paper presents a new generic approach to real-time monitoring of abrupt changes in cutting process. Proposed method is based on hierarchical fuzzy clustering of patterns obtained from discrete wavelet transform (DWT) of acquired signals correlated with cutting force variation in time. Cutting process is naturally highly dynamical and normally...
Acquiring qualitative and timely information on the tool condition in the real time presents a necessary prerequisite for identifying a degree of tool wear, which significantly improves the stability and the quality of the machining process. This paper deals with defining a model for the tool wear classification system with a special emphasis on th...
This paper presents a method for recognition of contact states in robotized assembly using an example of cylindrical peg into hole part mating. Starting from force quasi-static model, offline features extraction using Discrete Wavelet Transform and teaching (classification) using Support Vector Machines is carried out. Thus obtained class boundarie...
Industrial measuring systems nowadays are frequently based on eddy current sensors. These sensors are highly accurate, with high resolution, have good bandwidth and they are very robust against contamination in an industrial working environment. A major drawback of this technology is sensitivity of eddy current sensors to electromagnetic anisotropy...
Steel and textile cord coating is one of the key rubber processing technologies in tiremaking industry. It is carried out on calendering lines where thickness variation across the sheet profile and downstream is very difficult to fulfill. Recent development of optoelectronics and derived sensory systems has enabled the replacement of traditional ra...
Rezime: U okviru rada izložen je deo rezultata koji se odnose na identifikaciju veličine 'slobodnog' dela spektra signala ubrzanja vibracija u cilju koncipiranja i laboratorijske verifikacije predložene metode za robusno prepoznavanje stanja pohabanosti alata pri obradi struganjem. U radu se paralelno daju prikazi MKE analize obradnog sistema i mik...
Rezime: U radu je prikazano eksperimentalno istraživanje procesa habanja alata za obradu rezanjem i razvoj podloga za definisanje karakteristika ulaznog vektora sistema za procenu habanja alata. Primenom diskretnih veivlet transformacija (DWT) izvršena je analiza promene vibracija sa porastom procenta habanja alata. Na osnovu eksperimentalnih rezul...
Modeling and control of a special type of the pneumatic actuator, called the Artificial Pneumatic Muscle (APM), is considered here. APM is able to exhibit many of the properties found in the real biological muscle. Contrary to its simple design, the control of APM is very complex due to its nonlinearity, compressibility of air, time varying propert...
This paper presents the new general purpose automatic feeding system, developed for high speed assembly of small parts. The new design is a result of the consequently applied Axiomatic Design Theory. The feeding system is functionally uncoupled, leading to minimization of problems in system tuning, parts damage and noise emission. Moreover, the new...
In this paper, the direct kinematics transformation in parallel link systems, based on redundant sensing approach is addressed. The redundant sensory information is provided by additional position sensors, connected directly to the parallel structure in a parallel manner. Optimization of position and the number of redundant sensors is performed by...
Active accommodation of robotic manipulator in assembly applications is considered. Mechanical impedance control concept has been chosen for development an intelligent controller for assembly robots, where target impedance appears as a control variable. Basic assumption for successful part mating process according to part mating theory is mechanica...
Active compliance control of robotic manipulators is useful in making robots perform precision assembly operations. The essential requirement here is mechanical isotropy of the robot end-point. In this paper the problem of how to achieve this kind of mechanical behaviour is considered from aspects of impedance control and fuzzy set theory. The new...
In this paper is considered the problem how to achieve a specific dynamic behavior of robot end-point from the aspect of impedance control and actuation redundancy. The target impedance is analytically formulated. Due to its complexity, analytical formulation is not suitable for real-time application. To overcome this problem, a simple fuzzy model...
Steel and textile cord coating is one of the key rubber processing technologies in tiremaking industry. Specifications are very demanding. In particular, thickness variation across the sheet profile and downstream is very difficult to fulfill. For in-process thickness measurement the most common are systems based on non-contact beta or gamma radiat...
Projects
Project (1)
Basic research objective: theoretical research and experimental work in domain of hybrid intelligent robotic systems which are based on symbiotic/intimate relations between humans and robots / human-robot coworking. The key research objective is study of various mechanisms for transfer of skills and knowledge from human to robotic system, related to those situations in which robotic system can not execute given task without the interaction with human worker.
The second objective is to introduce new high-end technology and innovative concepts into Serbian manufacturing industry. In this context, selected demonstration systems will be built at Faculty of Mechanical Engineering, CyberManufacturing Systems Laboratory (CMSysLab) and in the manufacturing plants of the companies, members of the consortium and the companies within the business interest group which escorts this project.
The third objective is to disseminate the concept of smart robotic systems for highly customized production (down to LotSize 1, one-of-a-kind and production on demand) as a generic multidisciplinary technology into engineering education system and economy.
