Formal Education:

Jan,1997

Doctor of Science, (D.Sc.) University of Ljubljana, Faculty of Electrical Engineering, Ljubljana, Slovenia, (dissertation: ``Robot mechanisms with supports'' - key words: robot kinematics, mechanics, electrotechnics).

Dec,1989

Master of Science, (M.Sc.) University of Ljubljana, Faculty of Electrical Engineering and Computer Science, Ljubljana, Slovenia; (thesis: ``Theory and calibration methods of assembling robots'' - key words: robotics, calibration, measuring)

Jan,1984

Graduate Electrical Engineer, (Dipl.Eng.El.) University of Ljubljana, Faculty of Electrical Engineering and Computer Science, Ljubljana, Slovenia; module: industrial electrotechnics; (thesis: ``Control of robot manipulator segment with inverse model'' - key words: robotics, control, integral equations)