{"id":174,"date":"2020-11-03T06:28:17","date_gmt":"2020-11-03T06:28:17","guid":{"rendered":"http:\/\/fornextcobot.etf.bg.ac.rs\/?page_id=174"},"modified":"2022-02-19T05:55:27","modified_gmt":"2022-02-19T05:55:27","slug":"ciljevi-projekta","status":"publish","type":"page","link":"https:\/\/fornextcobot.etf.bg.ac.rs\/sr\/naslovna\/ciljevi-projekta\/","title":{"rendered":"Ciljevi"},"content":{"rendered":"<div class=\"wpb-content-wrapper\"><p>[vc_row][vc_column][vc_column_text]<\/p>\n<p style=\"text-align: justify;\">Cilj projekta je doprinos slede\u0107oj generaciji kolaborativnih robota koja se zasniva na novoj tehnologiji aktuacije \u2013 aktuatorima promenljive mehani\u010dke impedanse, <em>variable impedance actuation (VIA)<\/em>, kroz unapre\u0111enje metoda estimacije i planiranja mehani\u010dke impedanse. Odnos Kartezijanske i rezultuju\u0107e krutosti zglobova \u010doveka u zadacima interakcije bi\u0107e uzor u planiranju impedanse robota u efikasnim i bezbednim kolaborativnim zadacima robota i \u010doveka koji \u0107e se bazirati na razumevanju i predvi\u0111anju pokreta \u010doveka. Obzirom da je odre\u0111ivanje impedanse u realnom vremenu kao nemerljive veli\u010dine poseban izazov usled nestacionarne prirode elasti\u010dnih elemenata podlo\u017enih plasti\u010dnim deformacijama, problema observabilnosti i potrebe za gabaritnim senzorima sile\/momenta, bi\u0107e predlo\u017eene nove metode za procenu impedanse zasnovane na teoriji observera.<\/p>\n<p style=\"text-align: justify;\">Sa usavr\u0161avanjem VIA kao tehnologije, algoritmi koji kombinuju redundansu kinematske strukture robota za odre\u0111eni zadatak i promenljivu impedansu zglobova mogu oblikovati impedansu zavr\u0161nog ure\u0111aja robota bez naru\u0161avanja njegovog polo\u017eaja. Prednosti ova dva pristupa \u0107e se kombinovati upotrebom optimizacije u nultom prostoru i tehnikama u\u010denja uzimajuc\u0301i u obzir i nelinearna ograni\u010denja (ograni\u010denog opsega kretanja i krutosti zglobova).<\/p>\n<p style=\"text-align: justify;\">O\u010dekuje se da c\u0301e ovaj projekat imati zna\u010dajan uticaj na \u0161irenje istra\u017eiva\u010dkog podru\u010dja upravljanja impedansom robota kori\u0161\u0107enjem povratne sprege, \u0161to \u0107e zna\u010dajno doprineti bezbednijoj interakciji robota i \u010doveka, rezultovati efikasnijim i ve\u0161tijim robotima koji \u0107e znati kako da eksploati\u0161u promenljivu krutost tj. unutra\u0161nju elasti\u010dnost i razumeti planiranje impedanse kod ljudi. Svi ovi rezultati \u0107e doprineti unapre\u0111enju u raznim sferama, fabrikama, bolnicama i ku\u0107nom okru\u017eenju. Tako\u0111e, projekat \u0107e imati klju\u010dnu ulogu kroz okupljanje istra\u017eiva\u010dkog tima i kreiranje centra kompetentnosti u aktuelnoj tematici interakcije I kolaboracije robota i \u010doveka.<\/p>\n<p style=\"text-align: justify;\">Poseban izazov ovog projekta je da pru\u017ei \u010dvrste osnove u planiranju interakcije i proceni impedanse kao preduslova za adekvatno upravljanje robota u kontaktnim zadacima, istovremeno obezbe\u0111uju\u0107i nenametljivo prilago\u0111avanje dinamici zadataka i interakciju sa \u010dovekom ili okolinom, pri \u010demu je ceo proces bezbedan za sve uklju\u010dene aktere.<\/p>\n<p style=\"text-align: justify;\">Plan implementacije projekta sadr\u017ei tri me\u0111usobno povezane linije aktivnosti i jedan obiman segment ekperimentalne evaluacije koji zajedno \u010dine ukupno \u010detiri zadataka.<\/p>\n<p>[\/vc_column_text][\/vc_column][\/vc_row][vc_row][vc_column width=&#8221;1\/2&#8243;]\n<!-- Progress bar --><div class=\"rd_pb_holder rd_pb_6\"><style type=\"text\/css\" >#pb_ibfxk7cpgghe9qenpnrv .pb_title,#pb_ibfxk7cpgghe9qenpnrv .pb_sub_title,#pb_ibfxk7cpgghe9qenpnrv .pb_sub_percentage,.rd_pb_1 #pb_ibfxk7cpgghe9qenpnrv .pb_percentage,.rd_pb_2 #pb_ibfxk7cpgghe9qenpnrv .pb_percentage,.rd_pb_7 #pb_ibfxk7cpgghe9qenpnrv .pb_percentage{color:#333333;}#pb_ibfxk7cpgghe9qenpnrv .pb_bg{background:#55ad7a;}.rd_pb_3 #pb_ibfxk7cpgghe9qenpnrv .pb_percentage,.rd_pb_8 #pb_ibfxk7cpgghe9qenpnrv .pb_percentage,.rd_pb_9 #pb_ibfxk7cpgghe9qenpnrv .pb_percentage,.rd_pb_10 #pb_ibfxk7cpgghe9qenpnrv .pb_percentage{left:70%; content:\"\"!important; }.rd_pb_3 #pb_ibfxk7cpgghe9qenpnrv .pb_percentage:before,.rd_pb_8 #pb_ibfxk7cpgghe9qenpnrv .pb_percentage:before,.rd_pb_9 #pb_ibfxk7cpgghe9qenpnrv .pb_percentage:before,.rd_pb_10 #pb_ibfxk7cpgghe9qenpnrv .pb_percentage:before{content:\"70%\";}#pb_ibfxk7cpgghe9qenpnrv .pb_ctn{background:#f9fafb; border:1px solid #ecf0f1;}<\/style><div class=\"progress_bar_sc\" id=\"pb_ibfxk7cpgghe9qenpnrv\">\r\n\r\n<div class=\"pb_title\">Zadatak 1<\/div>\r\n\r\n<div class=\"pb_percentage\">70%<\/div>\r\n\r\n<div class=\"clearfix\"><\/div>\r\n\r\n<div class=\"pb_ctn\">\r\n\r\n<div class=\"pb_bg\" data-percentage-value=\"70\"><span class=\"pb_sub_title\">Zadatak 1<\/span><span class=\"pb_sub_percentage\">: 70%<\/span><\/div><\/div>\r\n\r\n<\/div><\/div>\r\n\r\n<!-- Progress bar END-->\n[vc_empty_space][vc_column_text]<strong>Procena mehani\u010dke impedanse ljudi u zadacima interakcije<\/strong>. Uzima u obzir metode, scenarije i eksperimente prikupljanja podataka o planiranju mehani\u010dke impedanse kod ljudi.[\/vc_column_text][\/vc_column][vc_column width=&#8221;1\/2&#8243;]\n<!-- Progress bar --><div class=\"rd_pb_holder rd_pb_6\"><style type=\"text\/css\" >#pb_jffwyxqkdtiul5ct5cki .pb_title,#pb_jffwyxqkdtiul5ct5cki .pb_sub_title,#pb_jffwyxqkdtiul5ct5cki .pb_sub_percentage,.rd_pb_1 #pb_jffwyxqkdtiul5ct5cki .pb_percentage,.rd_pb_2 #pb_jffwyxqkdtiul5ct5cki .pb_percentage,.rd_pb_7 #pb_jffwyxqkdtiul5ct5cki .pb_percentage{color:#333333;}#pb_jffwyxqkdtiul5ct5cki .pb_bg{background:#55ad7a;}.rd_pb_3 #pb_jffwyxqkdtiul5ct5cki .pb_percentage,.rd_pb_8 #pb_jffwyxqkdtiul5ct5cki .pb_percentage,.rd_pb_9 #pb_jffwyxqkdtiul5ct5cki .pb_percentage,.rd_pb_10 #pb_jffwyxqkdtiul5ct5cki .pb_percentage{left:80%; content:\"\"!important; }.rd_pb_3 #pb_jffwyxqkdtiul5ct5cki .pb_percentage:before,.rd_pb_8 #pb_jffwyxqkdtiul5ct5cki .pb_percentage:before,.rd_pb_9 #pb_jffwyxqkdtiul5ct5cki .pb_percentage:before,.rd_pb_10 #pb_jffwyxqkdtiul5ct5cki .pb_percentage:before{content:\"80%\";}#pb_jffwyxqkdtiul5ct5cki .pb_ctn{background:#f9fafb; border:1px solid #ecf0f1;}<\/style><div class=\"progress_bar_sc\" id=\"pb_jffwyxqkdtiul5ct5cki\">\r\n\r\n<div class=\"pb_title\">Zadatak 2<\/div>\r\n\r\n<div class=\"pb_percentage\">80%<\/div>\r\n\r\n<div class=\"clearfix\"><\/div>\r\n\r\n<div class=\"pb_ctn\">\r\n\r\n<div class=\"pb_bg\" data-percentage-value=\"80\"><span class=\"pb_sub_title\">Zadatak 2<\/span><span class=\"pb_sub_percentage\">: 80%<\/span><\/div><\/div>\r\n\r\n<\/div><\/div>\r\n\r\n<!-- Progress bar END-->\n[vc_empty_space][vc_column_text]<strong>Razvoj estimatora mehani\u010dke impedanse robota<\/strong>. Razmatre mogu\u0107nosti primene postoje\u0107ih pristupa dostupnih u literaturi i predla\u017ee nove metode za procenu mehani\u010dke impedanse robota koja nije merljivi parametar, ali je klju\u010dan za upravljanje fizi\u010dkom interakcijom robota.[\/vc_column_text][\/vc_column][\/vc_row][vc_row][vc_column width=&#8221;1\/2&#8243;]\n<!-- Progress bar --><div class=\"rd_pb_holder rd_pb_6\"><style type=\"text\/css\" >#pb_8qqns73zvybgtk67pwqb .pb_title,#pb_8qqns73zvybgtk67pwqb .pb_sub_title,#pb_8qqns73zvybgtk67pwqb .pb_sub_percentage,.rd_pb_1 #pb_8qqns73zvybgtk67pwqb .pb_percentage,.rd_pb_2 #pb_8qqns73zvybgtk67pwqb .pb_percentage,.rd_pb_7 #pb_8qqns73zvybgtk67pwqb .pb_percentage{color:#333333;}#pb_8qqns73zvybgtk67pwqb .pb_bg{background:#55ad7a;}.rd_pb_3 #pb_8qqns73zvybgtk67pwqb .pb_percentage,.rd_pb_8 #pb_8qqns73zvybgtk67pwqb .pb_percentage,.rd_pb_9 #pb_8qqns73zvybgtk67pwqb .pb_percentage,.rd_pb_10 #pb_8qqns73zvybgtk67pwqb .pb_percentage{left:60%; content:\"\"!important; }.rd_pb_3 #pb_8qqns73zvybgtk67pwqb .pb_percentage:before,.rd_pb_8 #pb_8qqns73zvybgtk67pwqb .pb_percentage:before,.rd_pb_9 #pb_8qqns73zvybgtk67pwqb .pb_percentage:before,.rd_pb_10 #pb_8qqns73zvybgtk67pwqb .pb_percentage:before{content:\"60%\";}#pb_8qqns73zvybgtk67pwqb .pb_ctn{background:#f9fafb; border:1px solid #ecf0f1;}<\/style><div class=\"progress_bar_sc\" id=\"pb_8qqns73zvybgtk67pwqb\">\r\n\r\n<div class=\"pb_title\">Zadatak 3<\/div>\r\n\r\n<div class=\"pb_percentage\">60%<\/div>\r\n\r\n<div class=\"clearfix\"><\/div>\r\n\r\n<div class=\"pb_ctn\">\r\n\r\n<div class=\"pb_bg\" data-percentage-value=\"60\"><span class=\"pb_sub_title\">Zadatak 3<\/span><span class=\"pb_sub_percentage\">: 60%<\/span><\/div><\/div>\r\n\r\n<\/div><\/div>\r\n\r\n<!-- Progress bar END-->\n[vc_empty_space][vc_column_text]<strong>Razvoj algoritama za oblikovanje mehani\u010dke impedanse zavr\u0161nog ure\u0111aja robota<\/strong>. Razra\u0111uje mogu\u0107nosti upotrebe trenutnog nivo hardvera (aktuatore promenljive impedanse, brze robotske kontrolore) i softver \/ metode (tehnike optimizacije i u\u010denja) za planiranje kinematske konfiguracije i impedanse pojedinih zglobova robota neophodnih za postizanje \u017eeljene impedanse njegovog zavr\u0161nog ure\u0111aja robota uz o\u010duvanje njegovog polo\u017eaja.[\/vc_column_text][\/vc_column][vc_column width=&#8221;1\/2&#8243;]\n<!-- Progress bar --><div class=\"rd_pb_holder rd_pb_6\"><style type=\"text\/css\" >#pb_e1ly3lji4o459ot1ica5 .pb_title,#pb_e1ly3lji4o459ot1ica5 .pb_sub_title,#pb_e1ly3lji4o459ot1ica5 .pb_sub_percentage,.rd_pb_1 #pb_e1ly3lji4o459ot1ica5 .pb_percentage,.rd_pb_2 #pb_e1ly3lji4o459ot1ica5 .pb_percentage,.rd_pb_7 #pb_e1ly3lji4o459ot1ica5 .pb_percentage{color:#333333;}#pb_e1ly3lji4o459ot1ica5 .pb_bg{background:#55ad7a;}.rd_pb_3 #pb_e1ly3lji4o459ot1ica5 .pb_percentage,.rd_pb_8 #pb_e1ly3lji4o459ot1ica5 .pb_percentage,.rd_pb_9 #pb_e1ly3lji4o459ot1ica5 .pb_percentage,.rd_pb_10 #pb_e1ly3lji4o459ot1ica5 .pb_percentage{left:30%; content:\"\"!important; }.rd_pb_3 #pb_e1ly3lji4o459ot1ica5 .pb_percentage:before,.rd_pb_8 #pb_e1ly3lji4o459ot1ica5 .pb_percentage:before,.rd_pb_9 #pb_e1ly3lji4o459ot1ica5 .pb_percentage:before,.rd_pb_10 #pb_e1ly3lji4o459ot1ica5 .pb_percentage:before{content:\"30%\";}#pb_e1ly3lji4o459ot1ica5 .pb_ctn{background:#f9fafb; border:1px solid #ecf0f1;}<\/style><div class=\"progress_bar_sc\" id=\"pb_e1ly3lji4o459ot1ica5\">\r\n\r\n<div class=\"pb_title\">Zadatak 4<\/div>\r\n\r\n<div class=\"pb_percentage\">30%<\/div>\r\n\r\n<div class=\"clearfix\"><\/div>\r\n\r\n<div class=\"pb_ctn\">\r\n\r\n<div class=\"pb_bg\" data-percentage-value=\"30\"><span class=\"pb_sub_title\">Zadatak 4<\/span><span class=\"pb_sub_percentage\">: 30%<\/span><\/div><\/div>\r\n\r\n<\/div><\/div>\r\n\r\n<!-- Progress bar END-->\n[vc_empty_space][vc_column_text]<strong>Eksperimentalna evaluacija planiranja i estimacije mehani\u010dke impedanse robota<\/strong>. Verifikuje rezultate ZADATKA 1, 2 i 3 na stvarnim kolaborativnim robotima i robotima sa VIA (prototipima kolaborativnih robota nove generacije) \u2013 Panda robotu i QB robotu kao primarnim istra\u017eiva\u010dkim platformama.[\/vc_column_text][\/vc_column][\/vc_row]<\/p>\n<\/div>","protected":false},"excerpt":{"rendered":"<p>[vc_row][vc_column][vc_column_text] Cilj projekta je doprinos slede\u0107oj generaciji kolaborativnih robota koja se zasniva na novoj tehnologiji aktuacije \u2013 aktuatorima promenljive mehani\u010dke impedanse, variable impedance actuation (VIA), kroz unapre\u0111enje metoda estimacije i planiranja mehani\u010dke impedanse. Odnos Kartezijanske i rezultuju\u0107e krutosti zglobova \u010doveka u zadacima interakcije bi\u0107e uzor u planiranju impedanse robota u efikasnim i bezbednim kolaborativnim zadacima<br \/><a href=\"https:\/\/fornextcobot.etf.bg.ac.rs\/sr\/naslovna\/ciljevi-projekta\/\" class=\"more\">Read more<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v21.5 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Ciljevi Projekta - ForNextCobot<\/title>\n<meta name=\"description\" content=\"Cilj projekta je doprinos slede\u0107oj generaciji kolaborativnih robota koja se zasniva na novoj tehnologiji aktuacije \u2013 aktuatori\" \/>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/fornextcobot.etf.bg.ac.rs\/sr\/naslovna\/ciljevi-projekta\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Ciljevi Projekta - 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