This paper presents the use of a laser tracker for programming paths of industrial robots. The idea of operation, application, and the offered accuracy of the laser trackers are discussed. Then, the developed method of using a tracker for determining the path points of an industrial robot is presented. The requirements related to the developed method are indicated. The parameters of the industrial robot related to the repeatability and accuracy of the robots and the Absolute Accuracy option—increasing the accuracy—are characterized. The developed method is based on the accuracy of robots and the conversion of the position and orientation of individual coordinate systems. In the developed method, the robot is not used during programming and the programmer indicates the path points with the help of a retroreflector. The algorithm, which is the most important part of the developed method, has been implemented in the Rapid programming language to automate the programming process. This article provides an example of the use of the developed method to program the robot path during the grinding process. The advantages of the developed method are characterized and compared to existing solutions. In addition, the limitations and achieved accuracies are indicated.

The development of industrial robotics requires the use of increasingly sophisticated control algorithms. In modern tasks posed by industry, it is not sufficient for the manipulator to move along a programmed path, reaching individual points with the greatest accuracy. There is a need for solutions that can allow detection and avoidance of obstacles appearing on the robot’s path and that can compensate the path for low-repetitive workpieces, adjust the strength of the impact of manipulator tools on the workpiece or enable safe cooperation of manipulators with people. To support this development, this work proposes an interface for controlling industrial robots in the Simulink environment. With its use, we can easily test our control algorithms using an external controller without the need to write an extensive program in the RAPID language. The robot controller’s task is to control the drives to achieve the set trajectory.

The paper presents the concept of operation and methods of using laser trackers in robotics. So far, a small amount of research on software for sharing and exchanging data with trackers has been done. As a result of the identified demand, a proprietary application for communication between the laser tracker and robots, as well as other software, was developed. The developed solution is based on the software development kit (SDK) provided by Leica and the Python language. The structure and functioning of the developed software were described in detail. The software meets the goals set at the beginning of the design process regarding online communication with the tracker and using the universal, popular TCP/IP standard. The functioning of the developed software was shown in the paper in a few examples related to manipulating robots and mobile robots. The capabilities of the developed software were described, as well as the planned work on its development.

This paper presents a comprehensive mathematical model of the ABB IRB 2400 industrial robot, developed to support simulation, control design, and digital twin applications. The model includes both kinematic and dynamic descriptions of the manipulator. Kinematic modelling is based on a modified Denavit-Hartenberg convention and includes transformation matrices and the Jacobian matrix. The dynamic model was derived using both the Euler-Lagrange and Newton-Euler formalisms, enabling validation through independent formulations. Physical parameters such as link masses, centres of mass, and moments of inertia, were estimated through CAD analysis. Friction coefficients were determined by experimental testing. Model validation was performed by comparing simulated joint torques with measurements on the real robot for representative trajectories. The results show agreement: for Joints 2–3 the RMSE relative to the average actuator torque is ≈ 3.4–3.7%, while for Joints 4–6 it remains below 10% (Joint 1 reaches 11.6%). Compared with typical kinematics-only simulation in offline-programming tools, the proposed model captures dynamic effects. The equation set is computationally light and amenable to real-time use within standard control cycles, facilitating integration into digital-twin workflows. The approach is also transferable to other six-axis manipulators of comparable architecture by updating link inertias and friction coefficients. Limitations include the rigid-body assumption (no link/joint compliance or backlash) and reliance on controller-reported actuator torques whose proprietary accuracy is not disclosed; these aspects motivate future extensions with elastic joints, external-force observers and uncertainty tracking.

The damping capabilities of viscoelastic materials depend heavily on the operating temperature. Since these materials are used for passive vibration damping, it is necessary to determine the damping properties of selected materials across a range of temperatures. This paper presents the results of an experimental investigation into the effect of temperature on the damping performance of viscoelastic materials applied to aluminium cantilever beams using free-layer damping (FLD) and constrained-layer damping (CLD) techniques. Butyl rubber and bituminous materials were experimentally tested by modal analysis over a temperature range from 22 °C to −2 °C. Frequency response functions, resonance frequencies, resonance amplitudes, and modal loss factors were determined for selected bending modes. The results show that CLD provides better damping at room temperature, particularly for butyl rubber, due to enhanced shear deformation in the viscoelastic layer. However, as the temperature decreases, material stiffening alters the damping efficiency, and FLD becomes more competitive or superior in several modes. The findings confirm that passive damping effectiveness is strongly dependent on temperature, material type, and vibration mode.