Zoran DimicLola Institut · Robotics
Zoran Dimic
PhD
About
46
Publications
17,488
Reads
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210
Citations
Citations since 2017
Introduction
- Development of real-time robot control, programming and simulation system based on open architecture software tools;
- Development of Industrial Robot Programming Language based on DIN 66312 standard;
- Development of open architecture control system for reconfigurable robotic machining cells programmed in machine tool manner ;
- Development of the devices for pilots training and dynamic flight simulation of modern combat aircraft: 3 DoF centrifuge and 4 DoF spatial disorientation trainer;
- Development of embedded software systems for parallel kinematics machine tools end robots;
- Development of NC and robot language compilers;
- Verification and testing of the particular high-level application real-time code.
Education
October 2008 - June 2016
October 1988
Publications
Publications (46)
An algorithm for reducing the influence of geometrical, thermal, kinematic and stiffness errors in five-axis machine tool components on the desired tool position and orientation is given. This new algorithm is based on the calculation of the cutting tool error matrix for orthogonal machine tools. In the new model of this matrix, all angular errors...
Before the development of robotic systems, it is of great importance to perform verification of various types of scenarios within the machine work and testing. That is especially important in designing the machine with new control logic, before releasing the machine. This paper describes 3D simulator, as part of the offline system, within distribut...
It is very useful to accomplish turning and five-axis milling, drilling and boring in only one setup, which is possible on five-axis turning centres. In this paper, we present a control algorithm for this machine with two translational and three rotational axes. The turning centre has a two rotary axis head with axes that do not intersect. This inc...
Parallel kinematic machines (PKM) are still a research-and-development topic in many laboratories although many of them, unfortunately, have no PKM at all. Therefore, the use of a desktop educational 3-axis parallel kinematic milling machine is suggested as a help in the process of acquiring basic experiences in the field of PKM. The developed desk...
Machine tools with a hybrid kinematic structure represent an unconventional type of machine tools whose characteristics depend on the kinematic configuration. Therefore, it is necessary to perform a separate accuracy analysis for each machine configuration. The analysis of the characteristic values obtained by examining the accuracy of positioning...
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 th...
Human centrifuge is a motion platform used to artificially achieve transient and sustained G-load intended for physiological pilot training under controlled conditions. This paper presents the successful modernization and upgrade of the control system of the human centrifuge. Due to the need for system redundancy, in addition to the new automatic c...
The indirect identification of the geometric errors (GEs) in the rotary axis of a machine tool yields six equivalent GEs (EGEs) that are position-dependent; through an analytical proof, this study demonstrates that these errors also represent four position-independent GEs of the axis. Moreover, a novel algorithm using ball bar measurements to calcu...
The parallel 2DOF (Degrees of Freedom) mechanism presented in this paper has been the basis of much research by many authors. There are many significant results for the presented mechanism, and some of them are reported in this paper. The main goal of the research regarding the parallel mechanism is to create a hardware and software system that wil...
This paper presents an approach for developing the programming and offline simulation systems for low-cost industrial robots in the MatLab/Simulink environment. The approach is presented in the example of a virtual model of a 4-axis robot with hybrid kinematics intended for manipulation tasks. The industrial robot with hybrid kinematics consists of...
Due to the great expansion of woodworking, profile tools manufacturing has become current and in demand. In wood industry there are two large groups of tools: rotary and spindle milling cutters that can be profile or flat. The technology of making profile rotary milling cutters requires, apart from cutting, turning, milling, 5-axis grinding operati...
The paper presents the programming and program verification on a 3-axis hybrid kinematics CNC machine for rapid prototyping using subtractive and additive processes. The original hybrid (parallel-serial) 3-axis OX glide mechanism developed to build a rapid prototyping machine and multifunctional machine tools is presented. The paper analyzes the av...
Machine tools with a parallel–serial (hybrid) kinematics structures represent a compromise solution that combines the advantages of traditional serial and parallel kinematic in the building of machine tools. By selecting a planar parallel mechanism with optimally designed components, the supporting structure of the machine tool is obtained with imp...
The paper shows the configuration of a new educational machine based on hybrid kinematics mechanism. The concept of a three-axis O-X hybrid mechanism is described, consisting of a single serial translational axis and a two-axis parallel mechanism that can operate in two variants, with extended form O and crossed form X-joints of the parallel mechan...
The paper presents the programming and program verification on 3-axis hybrid kinematics CNC machine for rapid prototyping. The original hybrid (parallel-serial) 3-axis OX glide mechanism developed for the purpose of building rapid prototyping machine and multifunctional machine tools is presented. The paper analyzes the available programming softwa...
![Fig. 5. CAD virtual model of BiSCARA robot [6]](profile/Sasa-Zivanovic/publication/355158319/figure/fig1/AS:1077013469237255@1633791429903/CAD-virtual-model-of-BiSCARA-robot-6_Q320.jpg)
The paper presents the developed control system with open architecture for the BiSCARA robot, based on the robot kinematic model. The control system is realized in the LinuxCNC software environment and includes the virtual robot model configured using several predefined Python classes and OpenGL. Presented methodology for configuring virtual robots...
This paper describes configuring the virtual horizontal machining center LOLA HBG80 within the programming and verification system and the open architecture control system. The horizontal machining center LOLA HBG 80 is represented by an equivalent virtual machine in a CAD/CAM environment (PTC Creo and Catia), STEP-NC Machine environment, and the c...
This paper presents an application of an open architecture control system implemented on a multi-axis wood computer numerical control milling machining center, as a digital twin control. The development of the digital twin control system was motivated by research and educational requirements, especially in the field of configuring a new control sys...
This paper describes the configuration of a 3-axis vertical CNC machine tool for rapid prototyping with one rotary and two translational axes. The machine works in a polar-cylindrical coordinate system. The structure of the machine is C'OXZ. The virtual machine model is configured in the PTC Creo software environment. After configuring the virtual...
Nowadays, industrial robots could be a successful alternative to machine tools for milling of large parts with complex geometry. As it is known, poor accuracy which is most influenced by the stiffness of robot structure is recognized as a limiting factor for successful use of robots in milling tasks. Since there are different sources of error in ro...
U radu je pokazano konfigurisanje sistema za programiranje i upravljanje jedne realizovane koncepcije troosne mini CNC mašine alatke čije je upravljanje zasnovano na Raspberry Pi platformi koristeći Machinekit upravljački softver. Za potrebe verifikacije sistema programiranja konfigurisana je i virtuelna mini CNC mašina alatka, u sistemu za program...
The paper shows the development of a 3-axis CNC machine tool for rapid prototyping by subtracting materials, with two translational and one rotating axis, whose control is based on the LinuxCNC system, with an integrated virtual machine as a digital twin. The concepts of machines with one rotary axis were analyzed and the concept of a machine for r...
The paper describes the configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine (R2PKM). A generalized model which is used for solving inverse and direct kinematic problem is presented. Generalized equations that present the
solutions of kinematic problems are derived and they are valid for any configurat...
![Fig. 1 Mini CNC machine tools based on CD/DVD drive hardware [4-15]](profile/Sasa-Zivanovic/publication/333402623/figure/fig1/AS:763167105884162@1558964625592/Mini-CNC-machine-tools-based-on-CD-DVD-drive-hardware-4-15_Q320.jpg)
In this paper, a mini CNC machine tool with three translational axis and open-architecture control system is being considered. Existing CAD/CAM software environment was used in order to create adequate corresponding virtual machine and to enable CNC program development and testing for the specific platform. Prototype of the machine was made utilizi...
The paper presents one of the concepts of a reconfigurable desktop 5-axis machine that is operated using the PC Linux CNC system EMC2. For realization of control system, the necessaryis included kinematic model , which is embedded in the EMC2 control system. The paper presents configuring of the virtual machine tool that is first integrated with th...
The paper presents research and development results of control and programming system of parallel kinematic machine (PKM). The control system is based on G-code and two separate units: a real-time control system and an off-line system for G-code writing and editing, checking programme syntax and semantics and discovering and avoiding singular posit...
U radu su pokazane koncepcije rekonfigurabilne dvoosne mašine sa paralelnom kinematikom koja se upravlja CNC sistemom otvorene arhitekture na bazi EMC2 softvera. Ovde je pokazana metodologija za konfigurisanje virtuelne mašine alatke koja se integriše sa upravljačkim sistemom i koja je takođe rekonfigurabilna. Verifikacija metodologije je ostvarena...
Industrial robots are a proper alternative to 5-axis machine tools for multi-axis milling of parts from softer materials and lower tolerances. For these reasons, researchers develop software solutions to bring programming of machining robots closer to programming of machine tools. The paper presents the results of kinematic modeling of vertical art...
This paper presents an approach for applying new programming method based on
STEP-NC standard in machining operations by using different CNC machine tools
and robots for machining. The paper discusses about programming and simulation
using configured virtual machines or robots for machining and software STEP-NC
Machine. Programming verification has...
Design of user-friendly and at the same time powerful robot programming methods is the subject of significant efforts undertaken by the international robotics community. For the purpose of facilitating robot programming, with regard to the most common present-day applications in industry, it would be useful to develop programming procedures for fre...
Robotic machining systems play an important role in modern manufacturing. The paper proposes the application of virtual robots for off-line programming. The reconfigurable machining robot, programmed in G-code, which can be directly used by CNC machine tool programmers and operators, is presented. The subject of study are 5- and 6-DOF vertical arti...
This paper presents the development of reconfigurable virtual environment for programming, control, simulation, and monitoring of multiple robots and its application in the process of education. During the development special attention is devoted to the fulfillment of the modularity, scalability, and openness that represent the basic requirements o...
This paper presents the development and the use of reconfigurable virtual robot laboratory for programming, simulation and control of multi-robot operation. Special attention is devoted to fulfillment of basic requirements of the reconfigurability: modularity, scalability, and openness. The reconfigurability of the virtual environment can be consid...
Flexible and user-friendly virtual environment, Lola Robot Simulator, was developed to simulate and supervise robot cells. 3D graphic visualisation of robots and their environment, automatic and manual movement of virtual robot axes and end-effector trajectory tracing are implemented through open-source tools on Linux platform. In this paper, a sho...
This paper describes testing and programming methods for parallel kinematic machine based on mini
laboratory and desktop 3-axis parallel kinematic milling machine (PKMM). The paper presents the IDEF0
methodology for developmentally testing of new machine tools, with an example of application of this methodology. Several test workpieces are machined...
This paper presents the development of mini laboratory and educational desktop 3 axis milling machine with parallel kinematic. Functional requirements and concept of this machine were adopted. Description of the applied parallel mechanism is shown in this paper. The presented methodology was used to configure mini laboratory and educational desktop...
In the process of defining commands and developing algorithms for movements of complex and massive devices, such as human centrifuge, it is unsafe and demanding to perform testing on the real machine. Getting overview of devices operations might be of great importance especially before the final realization. This paper presents a system for program...
This paper presents advantages of using open architecture for the real-time control of robot manipulators, parallel kinematics machine tools and other multi-axis machining systems. In order to increase their competitiveness, companies need to follow the global economy requirements. The constant incorporation of new technologies into existing contro...
This paper presents distributed real-time robot control system implemented on the client and server modules. The client module is used to control the real robot and send commands to the server module. An application on the server side receives the commands that contain positions of robot joints read from encoders, displays current robot coordinates...
L-IRL (Lola Industrial Robot Language) is procedural language for industrial robot programming. Offline and real-time programming system are main parts of robot programming system based on L-IRL programming language. System for robot programming is using object code as one of the main communication tools between different elements of the system. In...
Industrial robots represent a promising cost-effective and flexible alternative for some machining applications. This paper describes the concept of reconfigurable robot multi-axis machining systems for machining the complex parts of light materials with lower tolerances having freeform surfaces. For the basic configuration of a five-axis robotic m...
![Figure 5. Design of mechanism's model for pn101_st V.1 [14]](profile/Sasa-Zivanovic/publication/268357920/figure/fig5/AS:668771693912066@1536459005243/Design-of-mechanisms-model-for-pn101-st-V1-14_Q320.jpg)
Configuring machine tools is a complex task which involves the use of huge spectra of conceptions, methods, models, calculations, technologies, simulations, control, programming, techno-economy. The paper presents the IDEF methodology for functional configuring of new machine tools, with an example of this methodology application for desktop 3-axis...
Sadržaj—U ovom radu je pokazano konfigurisanje virtuelne mašine troosne glodalice sa paralelnom kinematikom, koja omogućava verifikaciju sistema za upravljanje i programiranje. Opisano je i upravljanje primenom softvera otvorene arhitekture, kao što je EMC (Enhanced Machine Control) softver, kao i sama metodologija konfigurisanja upravljanja za ovu...
Projects
Project (1)
The project aims to prove the new concept of the desktop machine tool with a horizontal rotating device chuck as a multifunctional desktop machine tool. If the concept is proved, MultiProDesk will offer a unique multipurpose solution in the desktop machine tools and rapid prototyping domain. MultiProDesk will represent a valuable production tool for various production technologies such as relief machining, 3D engraving, prototyping of symmetrical and asymmetrical cylindrical parts, carving on soft materials like plastic, wood, etc. Another usage of MultiProDesk is for educational purposes where it fully trains and supports professional design teams, students, and creative individuals by being versatile, adaptable, and affordable. As an open architecture structure, it is suitable for further upgrades and development by the machine designers and end-users according to their special requirements. The advanced control system will ensure fast and simple adaptation to any of three configurations enabling employment of different machining technologies, smooth change of function, and safe and stable operation. The concept of the novel multifunctional desktop machine will have great value for SMEs in various production industries. MultiProDesk will enable the SME users to adopt mass customization concept and to reach mass personalization production, as a step to Industry 4.0.
Research grant was obtained from Innovation Fund of Republic of Serbia through Proof of Concept 2020 Program.
MultiProDesk team is composed of researchers from Lola institute, Belgrade, and Faculty of Mechanical Engineering in Belgrade, Department of Production Engineering.
Team participants:
Zoran Dimic, Sasa Zivanovic, Nikola Slavkovic, Nikola Vorkapic, and Jelena Vidakovic.
