НАУЧНЫЕ, ТЕХНИЧЕСКИЕ И ЭКОНОМИЧЕСКИЕ ПРОБЛЕМЫ SCIENTIFIC, TECHNICAL AND ECONOMICAL PROBLEMS Miomir K. Vukobratoviс MILESTONES OF SCIENTIFIC RESULTS - AN HOMAGE TO THE BELGRADE SCHOOL OF ROBOTICS In this paper I will try to show that the appearance of the first fundamental results of the Belgrade School of Robotics has to a great extent coincided with the foundation of robotics as a scientific discipline in the field of technical sciences. <...> Keywords: Recursive formulation, symbolic model, robot dynamics, centralized feedforward control, dynamic control, ecentralized control, force feedback, stability tests, underactuated robotic systems, practical stability tests, unified approach, robots interacting with dynamic environment, multi-arm cooperating robots, fuzzy logic robot control. 1. <...> INTRODUCTION Before reviewing our main important results in the domain of robotics I would like to emphasize that this text is an homage to the Belgrade School of Robotics, within which I have acted in the course of forty years, practically the whole my working life. <...> My intention was to present contributions of the Belgrade School of Robotics in the domain of general and manipulation robotics, and point out that our results in both human robotics and manipulation robotics have undoubtedly contributed to the development of robotics as a scientific discipline in general . <...> RECURSIVE FORMULATION OF ROBOT DYNAMICS ed for the first time in English the complete recursive Newton-Euler formulation in robot modeling1 In 1973, Vukobratovic and Stepanenko present. <...> Their work was initially directed toward the anthropo-morphic robotic mechanisms. <...> In 1976 they discussed the application of the recursive NewtonEuler computation to open-link manipulator 8 Проблемы машиностроения и автоматизации, № 1 – 2007 mechanisms2. <...> Vukobratovic and Potkonjak derived the first . <...> Hollerbach7 derecursive Lagrangian formulation in robots modeling6 final form by Vukobratovic and Potkonjak,9 veloped the algorithm for solving the inverse problem of dynamics as a specific case of the UickerKahn’s method. <...> COMPUTER - AIDED GENERATION OF ROBOT DYNAMICS IN SYMBOLIC FORM At the time of the beginnings of numerical procedures, their computational deficiencies were an obstacle to their application in on-line controllers. <...> However, symbolic approaches to deriving the robotic models can be much more efficient than the numerical ones. <...> A symbolic method exploits in full the particular kinematic and dynamic structures of each manipulator. <...> The advantages of customized symbolic <...>