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.

Differential games are a combination of game theory and optimum control methods. Their solutions are based on Bellman's principle of optimality. In this paper, the zero-sum differential game theory has been used for the purposes of controlling a mechatronic object: a single-link manipulator. In this case, analytical solutions are unavailable, thus approximate solutions were used. Two approximation methods were compared with the use of numerical simulations and selected quality indicators. The results confirm previous assumptions and the connection between the differential game theory and H∞ control problems

The paper presents the results of experimental verification on using a zero-sum differential game and H ∞ control in the problems of tracking and stabilizing motion of a wheeled mobile robot (WMR). It is a new approach to the synthesis of input-output systems based on the theory of dissipative systems in the sense of the possibility of their practical application. This paper expands upon the problem of optimal control of a nonlinear, nonholonomic wheeled mobile robot by including the reduced impact of changing operating condtions and possible disturbances of the robot’s complex motion. The proposed approach is based on the H∞ control theory and the control is generated by the neural approximation solution to the Hamilton-Jacobi-Isaacs equation. Our verification experiments confirm that the H∞ condition is met for reduced impact of disturbances in the task of tracking and stabilizing the robot motion in the form of changing operating conditions and other disturbances, which made it possible to achieve high accuracy of motion.