ETF, University of Belgrade
- Offer Profile
- General
interest of ETF (Faculty of Electrical Engineering) Robotics has always been in the field of robot dynamics,
design, control and application. Few results that could be considered as
pioneering in robotics:
- Computer-aided generation of dynamic equations – world first algorithm
based on Lagrange equations,
- World first CAD system for robots,
- Constrained robot motion,
- Distributed positioning for redundant robots,
- Dynamics of robots with elasticity in joints,
- Introducing the new field – robotic handwriting
Product Portfolio
Modeling and simulation of human/humanoid in complex
human-like motions including sports
- The mathematical models have been developed to
represent and solve the dynamics of any humanoid configuration in any motion
task. Particular motions in every-day activities, sports, etc. are
considered and solved as special cases of a general theory. Model and
software have been checked on bipedal posture stability under disturbances,
walking, jumping, handball and basketball actions, soccer, tennis… This work
is done within the project Humanoid Robotics – Theory and Application,
supported by the Serbian Ministry of Science and Technological Development.
Handball action
- presents the results of the simulation of a handball
action: the player jumps, catches the ball, swings with the arm, and finally
throws the ball.
Soccer goalkeeper
- shows a soccer goalkeeper.
Control of the fully anthropomimetic robot
- The recent ETF (Faculty of Electrical
Engineering) engagement as a partner in EU-funded
FP7 project ECCEROBOT (Embodied Cognition in a Compliantly Engineered Robot)
and the role of ETF to provide engineering aspects of control, induced this
focus of interests (anthropomimetic robots). The complexity of the control
problem lies in the fact that we consider a multi-joint robot imitating
human upper body, driven by antagonistic “muscles” with compliance. This
means that a joint is driven by a pair of “muscles” acting like agonist and
antagonist. Each “muscle” consists, in fact, of a DC motor winding a rope
attached to the “bone” thus becoming a tendon. The tendon includes an
elastic, expendable element.
Structure of the elbow joint
Structure of the shoulder rotations (and other joints)
Virtual laboratory for distance learning in Robotics and
Mechatronics
- The idea is to allow distance learning in technical
disciplines (like Robotics) where the need for laboratory exercises
restricted the possibilities. The Virtual Laboratory for Robotics and
Machatronics starts from the sophisticated mathematical models of system
dynamics to ensure that the virtual system will behave in the same manner as
a real one would. Programming interface is identical to the interface used
with real systems. The results of dynamic model and simulation are presented
and visualized by using diagrams and high-quality animation. The virtual lab
not only behaves as a real system and can be watched in work, but offers
options not possible or allowed in a real system (overloading, changing
motors, changing control concepts, removing robot cover to reveal inner
mechanisms in motion, etc.).
Two robots currently “present” in the virtual
laboratory:
- (a) Jointed configuration
(b) Cylindrical configuration.
Removed robot cover revealing the inner mechanisms
driving the elbow
Robotic Handwriting
- The concept of Distributed Positioning (DP),
previously formulated for robots, was applied
to resolve the redundancy problem in handwriting. The DP concept consists in
separating the original end-effector motion to slow global and fast local
motion and assigning these components to robot joints according to their
dynamic capabilities: slow component to massive basic configuration and fast
component to light redundancy. In handwriting, the relationship between
finger involvement, legibility, and letter inclination was found and the
existence of an optimal inclination for a prescribed legibility was proved.
Degeneration of handwriting with the progress of fatigue was shown. Robotic
assistance to correcting the handwriting disorders was seen as the final
target.
Configuration (structure) of the writing mechanism with
five DOFs.
Coordinated motion of fingers
produces two translations
Relationship between the finger involvement (IKI),
inclination of writing (α), and legibility (Le) – optimal inclination leads
to minimum finger involvement
Degeneration of handwriting with the progress of fatigue