8 research outputs found
Robot docking based on omnidirectional vision and reinforcement learning
We present a system for visual robotic docking using an omnidirectional camera coupled with the actor critic reinforcement learning algorithm. The system enables a PeopleBot robot to locate and approach a table so that it can pick an object from it using the pan-tilt camera mounted on the robot. We use a staged approach to solve this problem as there are distinct sub tasks and different sensors used. Starting with random wandering of the robot until the table is located via a landmark, and then a network trained via reinforcement allows the robot to turn to and approach the table. Once at the table the robot is to pick the object from it. We argue that our approach has a lot of potential allowing the learning of robot control for navigation removing the need for internal maps of the environment. This is achieved by allowing the robot to learn couplings between motor actions and the position of a landmark
Advances in Reinforcement Learning
Reinforcement Learning (RL) is a very dynamic area in terms of theory and application. This book brings together many different aspects of the current research on several fields associated to RL which has been growing rapidly, producing a wide variety of learning algorithms for different applications. Based on 24 Chapters, it covers a very broad variety of topics in RL and their application in autonomous systems. A set of chapters in this book provide a general overview of RL while other chapters focus mostly on the applications of RL paradigms: Game Theory, Multi-Agent Theory, Robotic, Networking Technologies, Vehicular Navigation, Medicine and Industrial Logistic
Empirical Control for Intelligent Robotic Systems β State-of-the-Art
ΠΠΌΠΏΠΈΡΠΈΡΡΠΊΠΎ ΡΠΏΡΠ°Π²ΡΠ°ΡΠ΅ ΠΏΡΠ΅Π΄ΡΡΠ°Π²ΡΠ° Π½ΠΎΠ² ΠΏΡΠΈΡΡΡΠΏ Ρ ΠΊΠΎΠ½ΡΠ΅ΠΏΡΠΈΡΡΠΊΠΎΠΌ ΠΏΡΠΎΡΠ΅ΠΊΡΠΎΠ²Π°ΡΡ ΡΠΏΡΠ°Π²ΡΠ°ΡΠΊΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ° ΠΌΠΎΠ±ΠΈΠ»Π½ΠΈΡ
ΡΠΎΠ±ΠΎΡΠ° ΠΈ ΡΠΎΠ±ΠΎΡΠ° Π²Π΅ΡΡΠΈΠΊΠ°Π»Π½Π΅ Π·Π³Π»ΠΎΠ±Π½Π΅ ΠΊΠΎΠ½ΡΠΈΠ³ΡΡΠ°ΡΠΈΡΠ΅. Π£ ΠΎΠ΄Π½ΠΎΡΡ Π½Π° ΠΊΠΎΠ½Π²Π΅Π½ΡΠΈΠΎΠ½Π°Π»Π½Π΅ ΠΏΡΠΈΡΡΡΠΏΠ΅, Π΅ΠΌΠΏΠΈΡΠΈΡΡΠΊΠΈ ΡΠΈΡΡΠ΅ΠΌΠΈ ΠΈΠΌΠ°ΡΡ ΡΠΏΠΎΡΠΎΠ±Π½ΠΎΡΡ ΠΌΠ°ΡΠΈΠ½ΡΠΊΠΎΠ³ ΡΡΠ΅ΡΠ° Π½Π° ΠΎΡΠ½ΠΎΠ²Ρ ΠΏΡΠΈΠΊΡΠΏΡΠ΅Π½ΠΈΡ
ΠΈΠ½ΡΠΎΡΠΌΠ°ΡΠΈΡΠ° ΠΈΠ· ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΡΠΊΠΎΠ³ ΠΎΠΊΡΡΠΆΠ΅ΡΠ°, ΠΏΠ΅ΡΠΌΠ°Π½Π΅Π½ΡΠ½ΠΎ ΡΠ½Π°ΠΏΡΠ΅ΡΡΡΡΡΠΈ ΡΠ²ΠΎΡΠ΅ ΠΏΠΎΠ½Π°ΡΠ°ΡΠ΅ ΡΡ
ΠΎΠ΄Π½ΠΎ ΠΏΠΎΡΡΠ°Π²ΡΠ΅Π½ΠΎΠΌ Π·Π°Π΄Π°ΡΠΊΡ. Π£ ΡΠ°Π΄Ρ ΡΠ΅ Π΄Π°Ρ Π΄Π΅ΡΠ°ΡΠ°Π½ ΠΏΡΠ΅Π³Π»Π΅Π΄ ΠΈΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠ° Ρ ΠΎΠ²ΠΎΡ ΠΎΠ±Π»Π°ΡΡΠΈ ΡΠ° ΠΏΠΎΡΠ΅Π±Π½ΠΈΠΌ ΠΎΡΠ²ΡΡΠΎΠΌ Π½Π° ΡΠ°Π·Π²ΠΎΡ ΠΈ ΠΈΠΌΠΏΠ»Π΅ΠΌΠ΅ΡΠ°ΡΠΈΡΡ Π΅ΠΌΠΏΠΈΡΠΈΡΡΠΊΠΈΡ
ΡΠΏΡΠ°Π²ΡΠ°ΡΠΊΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ° Π½Π° Π±Π°Π·ΠΈ ΠΌΠ°ΡΠΈΠ½ΡΠΊΠΎΠ³ Q-ΡΡΠ΅ΡΠ° ΠΎΡΠ°ΡΠ°Π²Π°ΡΠ΅ΠΌ ΠΈ soft computing ΡΠ΅Ρ
Π½ΠΈΠΊΠ° Π²Π΅ΡΡΠ°ΡΠΊΠ΅ ΠΈΠ½ΡΠ΅Π»ΠΈΠ³Π΅Π½ΡΠΈΡΠ΅. ΠΠ·Π²ΡΡΠ΅Π½Π° ΡΠ΅ Π°Π½Π°Π»ΠΈΠ·Π° Π°ΠΊΡΡΠ΅Π»Π½ΠΈΡ
ΠΏΡΠ°Π²Π°ΡΠ° ΠΈΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠ° ΡΠ° ΡΡΠ°Π½ΠΎΠ²ΠΈΡΡΠ° ΠΊΠ°ΡΠ°ΠΊΡΠ΅ΡΠΈΡΡΠΈΡΠ½ΠΈΡ
ΠΏΡΠΎΠ±Π»Π΅ΠΌΠ° ΡΠΏΡΠ°Π²ΡΠ°ΡΠ° ΡΠΎΠ±ΠΎΡΡΠΊΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ° (ΠΏΡΠΎΠ±Π»Π΅ΠΌ Π½Π°Π²ΠΈΠ³Π°ΡΠΈΡΠ΅, ΠΈΠ·Π±Π΅Π³Π°Π²Π°ΡΠ° ΠΏΡΠ΅ΠΏΡΠ΅ΠΊΠ°, ΠΏΡΠ°ΡΠ΅ΡΠ° Π·ΠΈΠ΄Π° ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΡΠΊΠΎΠ³ ΠΎΠΊΡΡΠΆΠ΅ΡΠ°, ΠΈ/ΠΈΠ»ΠΈ Π²ΠΈΠ·ΡΠ΅Π»Π½ΠΎΠ³
Π½Π°Π²ΠΎΡΠ΅ΡΠ°). Π‘Π²Π°ΠΊΠΈ ΠΎΠ΄ ΠΏΡΠ΅Π·Π΅Π½ΡΠΎΠ²Π°Π½ΠΈΡ
ΠΈΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠΊΠΈΡ
ΡΠ΅Π·ΡΠ»ΡΠ°ΡΠ° ΡΠ΅ ΡΠΊΡΠ°ΡΠΊΠΎ ΠΎΠΏΠΈΡΠ°Π½, ΡΠ° ΡΠ°ΡΠ½ΠΎ
Π½Π°Π³Π»Π°ΡΠ΅Π½ΠΎΠΌ ΠΏΡΠ΅Π΄Π½ΠΎΡΡΡ ΠΏΡΠΈΠΌΠ΅Π½Π΅ ΡΠ΅ΠΎΡΠΈΡΠ΅ Π΅ΠΌΠΏΠΈΡΠΈΡΡΠΊΠΎΠ³ ΡΠΏΡΠ°Π²ΡΠ°ΡΠ° Ρ ΠΏΡΠΎΡΠ΅ΡΡ ΠΊΠΎΠ½ΡΠ΅ΠΏΡΠΈΡΡΠΊΠΎΠ³
ΠΏΡΠΎΡΠ΅ΠΊΡΠΎΠ²Π°ΡΠ° ΡΠΏΡΠ°Π²ΡΠ°ΡΠΊΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ°.Empirical control presents a new approach in the domain of the conceptual design of the control systems for mobile robots and robot manipulators. Compared to the conventional design methods, empirical control systems have the ability to learn based on the information obtained from the environment, continuously improving robotβs behaviour. This paper presents a review on current research results, with emphasis on control systems based on the Q-learning algorithm and soft computing techniques. Comparative analysis has been conducted in terms of common robot-based and vision-based tasks. Described algorithms and experimental evaluations in real world clearly points out the advantages of implementation of the empirical theory in the conceptual design process of the control systems
Empirical Control for Intelligent Robotic Systems β State-of-the-Art
ΠΠΌΠΏΠΈΡΠΈΡΡΠΊΠΎ ΡΠΏΡΠ°Π²ΡΠ°ΡΠ΅ ΠΏΡΠ΅Π΄ΡΡΠ°Π²ΡΠ° Π½ΠΎΠ² ΠΏΡΠΈΡΡΡΠΏ Ρ ΠΊΠΎΠ½ΡΠ΅ΠΏΡΠΈΡΡΠΊΠΎΠΌ ΠΏΡΠΎΡΠ΅ΠΊΡΠΎΠ²Π°ΡΡ ΡΠΏΡΠ°Π²ΡΠ°ΡΠΊΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ° ΠΌΠΎΠ±ΠΈΠ»Π½ΠΈΡ
ΡΠΎΠ±ΠΎΡΠ° ΠΈ ΡΠΎΠ±ΠΎΡΠ° Π²Π΅ΡΡΠΈΠΊΠ°Π»Π½Π΅ Π·Π³Π»ΠΎΠ±Π½Π΅ ΠΊΠΎΠ½ΡΠΈΠ³ΡΡΠ°ΡΠΈΡΠ΅. Π£ ΠΎΠ΄Π½ΠΎΡΡ Π½Π° ΠΊΠΎΠ½Π²Π΅Π½ΡΠΈΠΎΠ½Π°Π»Π½Π΅ ΠΏΡΠΈΡΡΡΠΏΠ΅, Π΅ΠΌΠΏΠΈΡΠΈΡΡΠΊΠΈ ΡΠΈΡΡΠ΅ΠΌΠΈ ΠΈΠΌΠ°ΡΡ ΡΠΏΠΎΡΠΎΠ±Π½ΠΎΡΡ ΠΌΠ°ΡΠΈΠ½ΡΠΊΠΎΠ³ ΡΡΠ΅ΡΠ° Π½Π° ΠΎΡΠ½ΠΎΠ²Ρ ΠΏΡΠΈΠΊΡΠΏΡΠ΅Π½ΠΈΡ
ΠΈΠ½ΡΠΎΡΠΌΠ°ΡΠΈΡΠ° ΠΈΠ· ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΡΠΊΠΎΠ³ ΠΎΠΊΡΡΠΆΠ΅ΡΠ°, ΠΏΠ΅ΡΠΌΠ°Π½Π΅Π½ΡΠ½ΠΎ ΡΠ½Π°ΠΏΡΠ΅ΡΡΡΡΡΠΈ ΡΠ²ΠΎΡΠ΅ ΠΏΠΎΠ½Π°ΡΠ°ΡΠ΅ ΡΡ
ΠΎΠ΄Π½ΠΎ ΠΏΠΎΡΡΠ°Π²ΡΠ΅Π½ΠΎΠΌ Π·Π°Π΄Π°ΡΠΊΡ. Π£ ΡΠ°Π΄Ρ ΡΠ΅ Π΄Π°Ρ Π΄Π΅ΡΠ°ΡΠ°Π½ ΠΏΡΠ΅Π³Π»Π΅Π΄ ΠΈΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠ° Ρ ΠΎΠ²ΠΎΡ ΠΎΠ±Π»Π°ΡΡΠΈ ΡΠ° ΠΏΠΎΡΠ΅Π±Π½ΠΈΠΌ ΠΎΡΠ²ΡΡΠΎΠΌ Π½Π° ΡΠ°Π·Π²ΠΎΡ ΠΈ ΠΈΠΌΠΏΠ»Π΅ΠΌΠ΅ΡΠ°ΡΠΈΡΡ Π΅ΠΌΠΏΠΈΡΠΈΡΡΠΊΠΈΡ
ΡΠΏΡΠ°Π²ΡΠ°ΡΠΊΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ° Π½Π° Π±Π°Π·ΠΈ ΠΌΠ°ΡΠΈΠ½ΡΠΊΠΎΠ³ Q-ΡΡΠ΅ΡΠ° ΠΎΡΠ°ΡΠ°Π²Π°ΡΠ΅ΠΌ ΠΈ soft computing ΡΠ΅Ρ
Π½ΠΈΠΊΠ° Π²Π΅ΡΡΠ°ΡΠΊΠ΅ ΠΈΠ½ΡΠ΅Π»ΠΈΠ³Π΅Π½ΡΠΈΡΠ΅. ΠΠ·Π²ΡΡΠ΅Π½Π° ΡΠ΅ Π°Π½Π°Π»ΠΈΠ·Π° Π°ΠΊΡΡΠ΅Π»Π½ΠΈΡ
ΠΏΡΠ°Π²Π°ΡΠ° ΠΈΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠ° ΡΠ° ΡΡΠ°Π½ΠΎΠ²ΠΈΡΡΠ° ΠΊΠ°ΡΠ°ΠΊΡΠ΅ΡΠΈΡΡΠΈΡΠ½ΠΈΡ
ΠΏΡΠΎΠ±Π»Π΅ΠΌΠ° ΡΠΏΡΠ°Π²ΡΠ°ΡΠ° ΡΠΎΠ±ΠΎΡΡΠΊΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ° (ΠΏΡΠΎΠ±Π»Π΅ΠΌ Π½Π°Π²ΠΈΠ³Π°ΡΠΈΡΠ΅, ΠΈΠ·Π±Π΅Π³Π°Π²Π°ΡΠ° ΠΏΡΠ΅ΠΏΡΠ΅ΠΊΠ°, ΠΏΡΠ°ΡΠ΅ΡΠ° Π·ΠΈΠ΄Π° ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΡΠΊΠΎΠ³ ΠΎΠΊΡΡΠΆΠ΅ΡΠ°, ΠΈ/ΠΈΠ»ΠΈ Π²ΠΈΠ·ΡΠ΅Π»Π½ΠΎΠ³
Π½Π°Π²ΠΎΡΠ΅ΡΠ°). Π‘Π²Π°ΠΊΠΈ ΠΎΠ΄ ΠΏΡΠ΅Π·Π΅Π½ΡΠΎΠ²Π°Π½ΠΈΡ
ΠΈΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠΊΠΈΡ
ΡΠ΅Π·ΡΠ»ΡΠ°ΡΠ° ΡΠ΅ ΡΠΊΡΠ°ΡΠΊΠΎ ΠΎΠΏΠΈΡΠ°Π½, ΡΠ° ΡΠ°ΡΠ½ΠΎ
Π½Π°Π³Π»Π°ΡΠ΅Π½ΠΎΠΌ ΠΏΡΠ΅Π΄Π½ΠΎΡΡΡ ΠΏΡΠΈΠΌΠ΅Π½Π΅ ΡΠ΅ΠΎΡΠΈΡΠ΅ Π΅ΠΌΠΏΠΈΡΠΈΡΡΠΊΠΎΠ³ ΡΠΏΡΠ°Π²ΡΠ°ΡΠ° Ρ ΠΏΡΠΎΡΠ΅ΡΡ ΠΊΠΎΠ½ΡΠ΅ΠΏΡΠΈΡΡΠΊΠΎΠ³
ΠΏΡΠΎΡΠ΅ΠΊΡΠΎΠ²Π°ΡΠ° ΡΠΏΡΠ°Π²ΡΠ°ΡΠΊΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ°.Empirical control presents a new approach in the domain of the conceptual design of the control systems for mobile robots and robot manipulators. Compared to the conventional design methods, empirical control systems have the ability to learn based on the information obtained from the environment, continuously improving robotβs behaviour. This paper presents a review on current research results, with emphasis on control systems based on the Q-learning algorithm and soft computing techniques. Comparative analysis has been conducted in terms of common robot-based and vision-based tasks. Described algorithms and experimental evaluations in real world clearly points out the advantages of implementation of the empirical theory in the conceptual design process of the control systems
pllication of the Ecologically Based Approaches to Implementation of Intelligent Manufacturing Systems for Production of Sheet Metal Parts β Overview of Research Results within the Project TR-35004
Π£ ΡΠ°Π΄Ρ ΡΠ΅ ΠΏΡΠ΅Π΄ΡΡΠ°Π²ΡΠ΅Π½ Π΄Π΅ΠΎ ΡΠ΅Π·ΡΠ»ΡΠ°ΡΠ° ΠΊΠΎΡΠΈ ΡΡ Π½Π°ΡΡΠ°Π»ΠΈ ΡΠΎΠΊΠΎΠΌ ΠΏΡΠ²Π΅ Π³ΠΎΠ΄ΠΈΠ½Π΅ ΠΈΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠ° Π½Π° ΠΏΡΠΎΡΠ΅ΠΊΡΡ βΠΠ½ΠΎΠ²Π°ΡΠΈΠ²Π½ΠΈ ΠΏΡΠΈΡΡΡΠΏ Ρ ΠΏΡΠΈΠΌΠ΅Π½ΠΈ ΠΈΠ½ΡΠ΅Π»ΠΈΠ³Π΅Π½ΡΠ½ΠΈΡ
ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΡΠΊΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ° Π·Π° ΠΏΡΠΎΠΈΠ·Π²ΠΎΠ΄ΡΡ Π΄Π΅Π»ΠΎΠ²Π° ΠΎΠ΄ Π»ΠΈΠΌΠ° Π·Π°ΡΠ½ΠΎΠ²Π°Π½ Π½Π° Π΅ΠΊΠΎΠ»ΠΎΡΠΊΠΈΠΌ ΠΏΡΠΈΠ½ΡΠΈΠΏΠΈΠΌΠ°β (Π΅Π²ΠΈΠ΄. Π±Ρ. Π’Π -35004) ΠΠΈΠ½ΠΈΡΡΠ°ΡΡΡΠ²Π° ΠΏΡΠΎΡΠ²Π΅ΡΠ΅ ΠΈ Π½Π°ΡΠΊΠ΅ Π Π΅ΠΏΡΠ±Π»ΠΈΠΊΠ΅ Π‘ΡΠ±ΠΈΡΠ΅. ΠΡΠΎΡΠ΅ΠΊΡΠ½ΠΈΠΌ Π°ΠΊΡΠΈΠ²Π½ΠΎΡΡΠΈΠΌΠ° ΡΡ ΠΎΠ±ΡΡ
Π²Π°ΡΠ΅Π½Π° Π΄Π²Π° ΠΎΡΠ½ΠΎΠ²Π½Π° ΠΏΡΠ°Π²ΡΠ° ΠΈΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠ°: ΠΈΡΠΏΠΈΡΠΈΠ²Π°ΡΠ΅ ΡΡΠ΅ΡΠ° Ρ ΠΌΠΈΠΊΡΠΎ ΠΏΠΎΠ΄ΡΡΡΡΡ ΠΏΡΠΈΠΌΠ΅Π½ΠΎΠΌ ΠΌΠ΅ΡΠΎΠ΄Π° ΡΠΊΠ΅Π½ΠΈΡΠ°ΡΡΡΠ΅ ΠΌΠΈΠΊΡΠΎΡΠΊΠΎΠΏΠΈΡΠ΅ ΠΈ ΡΠ°Π·Π²ΠΎΡ Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌΠ° Π·Π° ΡΠΏΡΠ°Π²ΡΠ°ΡΠ΅ ΠΈΠ½ΡΠ΅Π»ΠΈΠ³Π΅Π½ΡΠ½ΠΈΡ
ΡΠΎΠ±ΠΎΡΠ°, ΡΠ° Π°ΠΊΡΠ΅Π½ΡΠΎΠΌ Π½Π° ΠΏΡΠΈΠΌΠ΅Π½ΠΈ Π΅ΠΊΠΎΠ»ΠΎΡΠΊΠΈΡ
ΠΏΡΠΈΠ½ΡΠΈΠΏΠ° ΠΊΠΎΡΠΈ ΠΏΠΎΠ΄ΡΠ°Π·ΡΠΌΠ΅Π²Π°ΡΡ ΡΡΡΠ΅Π΄Ρ Π΅Π½Π΅ΡΠ³ΠΈΡΠ΅, ΠΌΠ°ΡΠ΅ΡΠΈΡΠ°Π»Π° ΠΈ ΡΡΠ΅Π΄ΡΡΠ°Π²Π° Π·Π° ΠΏΠΎΠ΄ΠΌΠ°Π·ΠΈΠ²Π°ΡΠ΅. ΠΡΠΈΠΊΠ°Π·Π°Π½ΠΈ ΡΠ΅Π·ΡΠ»ΡΠ°ΡΠΈ ΡΡ ΡΠΊΡΡΡΠ΅Π½ΠΈ Ρ ΠΏΡΠ΅Π΄Π°Π²Π°ΡΠ° ΠΈ Π»Π°Π±ΠΎΡΠ°ΡΠΎΡΠΈΡΡΠΊΠ΅ Π²Π΅ΠΆΠ±Π΅ Π½Π° ΠΏΡΠ΅Π΄ΠΌΠ΅ΡΠΈΠΌΠ° ΠΠ°ΡΠ΅Π΄ΡΠ΅ Π·Π° ΠΏΡΠΎΠΈΠ·Π²ΠΎΠ΄Π½ΠΎ ΠΌΠ°ΡΠΈΠ½ΡΡΠ²ΠΎ, Π° ΡΠΈΡ
ΠΎΠ²Π° ΠΏΡΠΈΠΌΠ΅Π½ΡΠΈΠ²ΠΎΡΡ Π²Π΅ΡΠΈΡΠΈΠΊΠΎΠ²Π°Π½Π° ΡΠ΅ ΠΈ ΠΊΡΠΎΠ· ΡΠ°ΡΠ°Π΄ΡΡ ΡΠ° ΠΊΠΎΡΠΈΡΠ½ΠΈΡΠΈΠΌΠ° ΠΈΠ· Π΄ΠΎΠΌΠ°ΡΠ΅ ΠΈΠ½Π΄ΡΡΡΡΠΈΡΠ΅, Π€ΠΠ Π΄.ΠΎ.ΠΎ. ΠΈΠ· ΠΠ΅ΠΎΠ³ΡΠ°Π΄Π° ΠΈ OPTIX Π΄.ΠΎ.ΠΎ. ΠΈΠ· ΠΠ΅ΠΌΡΠ½Π°.This paper presents a part of results conducted within the project βAn innovative ecologically based approach to implementation of intelligent manufacturing systems for production of sheet metal partsβ(TR35004), supported by the Serbian Government - the Ministry of Education and Science. The two primary areas of research covered by the project activities are: an examination of friction in micro area by using scanning microscopy method and development of algorithms for intelligent robots control, prioritizing ecological principles of energy, material, and lubricant saving. The presented results are included in lectures and laboratory exercises at the Production Engineering Department courses and verified through the collaboration with participants from the domestic industry, FMP d.o.o. Belgrade and OPTIX d.ΠΎ.ΠΎ. Zemun
pllication of the Ecologically Based Approaches to Implementation of Intelligent Manufacturing Systems for Production of Sheet Metal Parts β Overview of Research Results within the Project TR-35004
Π£ ΡΠ°Π΄Ρ ΡΠ΅ ΠΏΡΠ΅Π΄ΡΡΠ°Π²ΡΠ΅Π½ Π΄Π΅ΠΎ ΡΠ΅Π·ΡΠ»ΡΠ°ΡΠ° ΠΊΠΎΡΠΈ ΡΡ Π½Π°ΡΡΠ°Π»ΠΈ ΡΠΎΠΊΠΎΠΌ ΠΏΡΠ²Π΅ Π³ΠΎΠ΄ΠΈΠ½Π΅ ΠΈΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠ° Π½Π° ΠΏΡΠΎΡΠ΅ΠΊΡΡ βΠΠ½ΠΎΠ²Π°ΡΠΈΠ²Π½ΠΈ ΠΏΡΠΈΡΡΡΠΏ Ρ ΠΏΡΠΈΠΌΠ΅Π½ΠΈ ΠΈΠ½ΡΠ΅Π»ΠΈΠ³Π΅Π½ΡΠ½ΠΈΡ
ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΡΠΊΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ° Π·Π° ΠΏΡΠΎΠΈΠ·Π²ΠΎΠ΄ΡΡ Π΄Π΅Π»ΠΎΠ²Π° ΠΎΠ΄ Π»ΠΈΠΌΠ° Π·Π°ΡΠ½ΠΎΠ²Π°Π½ Π½Π° Π΅ΠΊΠΎΠ»ΠΎΡΠΊΠΈΠΌ ΠΏΡΠΈΠ½ΡΠΈΠΏΠΈΠΌΠ°β (Π΅Π²ΠΈΠ΄. Π±Ρ. Π’Π -35004) ΠΠΈΠ½ΠΈΡΡΠ°ΡΡΡΠ²Π° ΠΏΡΠΎΡΠ²Π΅ΡΠ΅ ΠΈ Π½Π°ΡΠΊΠ΅ Π Π΅ΠΏΡΠ±Π»ΠΈΠΊΠ΅ Π‘ΡΠ±ΠΈΡΠ΅. ΠΡΠΎΡΠ΅ΠΊΡΠ½ΠΈΠΌ Π°ΠΊΡΠΈΠ²Π½ΠΎΡΡΠΈΠΌΠ° ΡΡ ΠΎΠ±ΡΡ
Π²Π°ΡΠ΅Π½Π° Π΄Π²Π° ΠΎΡΠ½ΠΎΠ²Π½Π° ΠΏΡΠ°Π²ΡΠ° ΠΈΡΡΡΠ°ΠΆΠΈΠ²Π°ΡΠ°: ΠΈΡΠΏΠΈΡΠΈΠ²Π°ΡΠ΅ ΡΡΠ΅ΡΠ° Ρ ΠΌΠΈΠΊΡΠΎ ΠΏΠΎΠ΄ΡΡΡΡΡ ΠΏΡΠΈΠΌΠ΅Π½ΠΎΠΌ ΠΌΠ΅ΡΠΎΠ΄Π° ΡΠΊΠ΅Π½ΠΈΡΠ°ΡΡΡΠ΅ ΠΌΠΈΠΊΡΠΎΡΠΊΠΎΠΏΠΈΡΠ΅ ΠΈ ΡΠ°Π·Π²ΠΎΡ Π°Π»Π³ΠΎΡΠΈΡΠ°ΠΌΠ° Π·Π° ΡΠΏΡΠ°Π²ΡΠ°ΡΠ΅ ΠΈΠ½ΡΠ΅Π»ΠΈΠ³Π΅Π½ΡΠ½ΠΈΡ
ΡΠΎΠ±ΠΎΡΠ°, ΡΠ° Π°ΠΊΡΠ΅Π½ΡΠΎΠΌ Π½Π° ΠΏΡΠΈΠΌΠ΅Π½ΠΈ Π΅ΠΊΠΎΠ»ΠΎΡΠΊΠΈΡ
ΠΏΡΠΈΠ½ΡΠΈΠΏΠ° ΠΊΠΎΡΠΈ ΠΏΠΎΠ΄ΡΠ°Π·ΡΠΌΠ΅Π²Π°ΡΡ ΡΡΡΠ΅Π΄Ρ Π΅Π½Π΅ΡΠ³ΠΈΡΠ΅, ΠΌΠ°ΡΠ΅ΡΠΈΡΠ°Π»Π° ΠΈ ΡΡΠ΅Π΄ΡΡΠ°Π²Π° Π·Π° ΠΏΠΎΠ΄ΠΌΠ°Π·ΠΈΠ²Π°ΡΠ΅. ΠΡΠΈΠΊΠ°Π·Π°Π½ΠΈ ΡΠ΅Π·ΡΠ»ΡΠ°ΡΠΈ ΡΡ ΡΠΊΡΡΡΠ΅Π½ΠΈ Ρ ΠΏΡΠ΅Π΄Π°Π²Π°ΡΠ° ΠΈ Π»Π°Π±ΠΎΡΠ°ΡΠΎΡΠΈΡΡΠΊΠ΅ Π²Π΅ΠΆΠ±Π΅ Π½Π° ΠΏΡΠ΅Π΄ΠΌΠ΅ΡΠΈΠΌΠ° ΠΠ°ΡΠ΅Π΄ΡΠ΅ Π·Π° ΠΏΡΠΎΠΈΠ·Π²ΠΎΠ΄Π½ΠΎ ΠΌΠ°ΡΠΈΠ½ΡΡΠ²ΠΎ, Π° ΡΠΈΡ
ΠΎΠ²Π° ΠΏΡΠΈΠΌΠ΅Π½ΡΠΈΠ²ΠΎΡΡ Π²Π΅ΡΠΈΡΠΈΠΊΠΎΠ²Π°Π½Π° ΡΠ΅ ΠΈ ΠΊΡΠΎΠ· ΡΠ°ΡΠ°Π΄ΡΡ ΡΠ° ΠΊΠΎΡΠΈΡΠ½ΠΈΡΠΈΠΌΠ° ΠΈΠ· Π΄ΠΎΠΌΠ°ΡΠ΅ ΠΈΠ½Π΄ΡΡΡΡΠΈΡΠ΅, Π€ΠΠ Π΄.ΠΎ.ΠΎ. ΠΈΠ· ΠΠ΅ΠΎΠ³ΡΠ°Π΄Π° ΠΈ OPTIX Π΄.ΠΎ.ΠΎ. ΠΈΠ· ΠΠ΅ΠΌΡΠ½Π°.This paper presents a part of results conducted within the project βAn innovative ecologically based approach to implementation of intelligent manufacturing systems for production of sheet metal partsβ(TR35004), supported by the Serbian Government - the Ministry of Education and Science. The two primary areas of research covered by the project activities are: an examination of friction in micro area by using scanning microscopy method and development of algorithms for intelligent robots control, prioritizing ecological principles of energy, material, and lubricant saving. The presented results are included in lectures and laboratory exercises at the Production Engineering Department courses and verified through the collaboration with participants from the domestic industry, FMP d.o.o. Belgrade and OPTIX d.ΠΎ.ΠΎ. Zemun