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Stiffness control of redundant robot arm, aimed at using extra degrees of freedom (DoF) to shape the robot tool center point (TCP) elastomechanical behavior to be consistent with the essential requirements needed for a successful part mating process, i.e., to mimic part supporting mechanism with selective quasi-isotropic compliance (Remote Center of Compliance – RCC), with additional properties of inherent flexibility.

Theoretical analysis and synthesis of the complementary projector for null-space stiffness control of kinematically redundant robot arm. Practical feasibility of the proposed approach was proven by extensive computer simulations and physical experiments, based on commercially available 7 DoF SIA 10 F Yaskawa articulated robot arm, equipped with the open-architecture control system, system for generating excitation force, dedicated sensory system for displacement measurement and a system for real-time acquisition of sensory data.

Simulation experiments demonstrated convergence and stability of the proposed complementary projector. Physical experiments demonstrated that the proposed complementary projector can be implemented on the commercially available anthropomorphic redundant arm upgraded with open-architecture control system and that this projector has the capacity to efficiently affect the task-space TCP stiffness of the robot arm, with a satisfactory degree of consistency with the behavior obtained in the simulation experiments.

A novel complementary projector was synthesized based on the adopted objective function. Practical verification was conducted using computer simulations and physical experiments. For the needs of physical experiments, an adequate open-architecture control system was developed and upgraded through the implementation of the proposed complementary projector and an adequate system for generating excitation and measuring displacement of the robot TCP. Experiments demonstrated that the proposed complementary projector for null-space stiffness control is capable of producing the task-space TCP stiffness, which can satisfy the essential requirements needed for a successful part-mating process, thus allowing the redundant robot arm to mimic the RCC supporting mechanism behavior in a programmable manner.

This chapter provides an overview of entrepreneurship in Montenegro, through various aspects of the analysis. The chapter begins with an analysis of the role and importance of the development of entrepreneurship in Montenegro, followed by an analysis of the institutional and strategic framework for supporting the development of entrepreneurship. In this sense, a significant segment of the chapter is the analysis of various strategic documents, with a special focus placed on the role of the entrepreneurship development strategy, as well as the institutions responsible for the creation and implementation of entrepreneurship policies in Montenegro. The study also includes state measures, that is, support programs for the development of entrepreneurship, and thus the overall Montenegrin economy, which belongs to the group of less developed countries. In addition, the chapter indicates the importance of entrepreneurial learning in the development of entrepreneurial activity. The analysis shows that entrepreneurship is a concept that is increasingly used in Montenegrin economic theory, but also that it is increasingly present in everyday life, which is confirmed by numerous examples from practice. Therefore, through a multi-context analysis, the study depicts the environment for entrepreneurship development in Montenegro, including an overview of the state support, the influence of various factors, as well as certain forms of entrepreneurship that are current, and those that may be promising. The chapter ends with recommendations and guidelines for the further development of entrepreneurship in this country. With this regard, the key elements for increasing entrepreneurial activity are recognized in multiple support for a greater number of people to get involved in business, as well as in the improvement of a favorable business environment through the strengthening of institutional and infrastructural support.