Vol.2, No 10, 2000 pp. 1349-1376
UDC 007.52(497.11)(045)
BELGRADE SCHOOL OF ROBOTICS
Miomir Vukobratović
"Mihailo Pupin" Institute, Volgina 15, P.O.B. 15, 11000 Beograd, Yugoslavia
e-mail: vuk@robot.imp.bg.ac.yu
Abstract. . In the paper the milestone scientific results of Belgrade school of robotics are shortly presented. By some chronological order they are: zero moment point concept and semi-inverse method, recursive formulation of robot dynamics, computer-aided generation of robot dynamics in symbolic form, dynamic approach to trajectories generation of robotic manipulators, centralized feedforward control in robotics, robot dynamic control, decentralized control and observer applied to strongly coupled active mechanisms, force feedback in dynamic control of robots, decentralized control stability tests for robotic mechanisms, underactuated robotic systems, practical stability tests in robotics, unified approach to control laws synthesis for robot interacting with dynamic environment, new approach to modeling and control of multi-arm cooperating robots interacting with environment, connectionist algorithms for advanced learning control of robot interacting with dynamic environment, fuzzy logic robot control with model-based dynamic compensation, and internal redundancy - new way to improve robot dynamic performances.
Key words:  zero-moment point, semi-inverse method, decentralized control, feedforward control, observer, underactuated robotic systems, practical stability, dynamic environment, connectionist algorithms, fuzzy logic control, internal redundancy.
BEOGRADSKA ŠKOLA ROBOTIKE
U radu se ukratko predstavljaju naučni rezultati beogradske škole robotike. Po nekom hronološkom redosledu oni bi se mogli svrstati na sledeći način: koncept tačke nultog momenta i semi-inverzna metoda, rekurzivna formulacija dinamike robota, generisanje dinamike robota uz podršku računara u simboličkoj formi, dinamički pristup generisanju trajektorija manipulatora robota, centralizovano feedforvard upravljanje u robotici, upravljanje dinamikom robota, decentralizovano upravljanje i primena rekonstruktora na strogo kuplovane aktivne mehanizme, povratna sprega po sili kod dinamičkog upravljanja robotima, testovi stabilnosti decentralizovanog upravljanja za mehanizme robota, neadekvatne performanse sistemi robota, testovi praktične stabilnosti u robotici, unificirani pristup sintezi upravljačkih zakona za robote koji su u interakciji sa dinamičkom okolinom, novi pristup modeliranju i upravljanju robota sa više ruku u interakciji sa okolinom, algoritmi za napredno učenje upravljanja robota u interakciji sa dinamičim okruženjem, upravljanje robota fazi logikom sa dinamičkom kompenzacijom zasnovanom na modelu i unutrašnja redundantnost – novi način za poboljšanje performnansi dinamike robota.