The paper presents the identification process of the mathematical model parameters of a differential-drive two-wheeled mobile robot. The values of the unknown parameters of the dynamics model were determined by carrying out their identification offline with the Levenberg-Marguardt method and identification online with the Recursive least-squares method. The authors compared the parameters identified by offline and online methods and proposed to support the recursive least squares method with the results obtained by offline identification. The correctness of the identification process of the robot dynamics model parameters, and the operation of the control system was verified by comparing the desired trajectories and those obtained through simulation studies and laboratory tests. Then an analysis of errors defined as the difference between the values of reference position, orientation and velocity, and those obtained from simulations and laboratory tests was carried out. On itd basis, the quality of regulation in the proposed algorithm was determined.

The article presents issues related to an experimental study of the vibrations of a roller shutter gripper on a robotic palletizing station. The authors presented the developed and built construction of the gripper for handling whole layers of products, separators, and pallets. The concept of the device was developed in cooperation with an integrator company. The authors verified the functionality of the gripper in a virtual environment for modeling and programming industrial robots. After the gripper was manufactured and the control software was developed for it, functional tests and inertia tests were carried out. The main purpose of the tests was to determine the vibration of the robot’s flange and the vibration of the attached gripper. Tests of the gripper’s properties on the robotic test bench were performed using MTi XSENS sensors and a PHANTOM V210 high-speed camera. The testing methodology proposed by the authors made it possible to confirm the occurrence of vibrations in the structure and to determine the relationship between the parameters of the robot’s motion (velocity and acceleration) and the magnitude of the vibrations occurring. During the tests, a disturbance in the decrease in the maximum value of acceleration was noted. This may be due to the appearance of natural vibrations in the structure. They have a damped character; however, they are not steady. In future work, the authors will focus on the possibility of using the proposed methodology to reduce robot vibrations in selected robotic production processes (such as spot welding).

The article presents a concept of building modular mobile robot, designed for the inspection and engineering works, in particular installation of fibre-optic cables. The authors present both the technical problem and one of concepts showing how to solve it. The assumptions adopted for development of the robot include possibility of changing the kinematic structure of the robot in order to provide possibility of working in sewers with a diameter range of 200-800 mm.

This paper explores the applicability of on-board diagnostics data for minimizing inertial navigation errors in vehicles. The results of driving tests were presented and discussed. Knowledge of a vehicle’s exact initial position and orientation was crucial in the navigation process. Orientation errors at the beginning of navigation contributed to positioning errors. GPS data were not processed by the algorithm during navigation.

Artykuł przedstawia opracowanie interfejsu wymiany danych między użytkownikiem a samochodem. W efektem pracy powstało urządzenie pracujące w pojeździe autora, spełniające kilka określonych funkcji: Zdalne sterowanie obwodami oświetleniowymi, zdalny odczyt sygnałów pojazdu, zdalne sterowanie zamkiem centralnym. Interakcja z użytkownikiem następuje za pośrednictwem telefonu komórkowego. Do wymiany danych między smartfonem a urządzeniem pracującym w aucie, autor wykorzystał bezprzewodową technologię Bluetooth. Autor wskazuje że funkcjonalność tego systemu w dużej mierze zależała od pojazdu w którym został on zamontowany (rok produkcji 2003). Z pewnością lepsze efekty można by było uzyskać w nowszym samochodzie, wyposażonym w linie szeregowej wymiany danych CAN. W najnowszych samochodach, takie udogodnienia to niemal standard. Świat motoryzacji zmierza w kierunku stworzenia i wprowadzenia do sprzedaży w pełni autonomicznego samochodu.