A double inverted pendulum is an example of a balancing robot. It is a non-linear, structurally unstable dynamic system that represents a classic problem in control theory. Studies of this type of systems led to design and development of self-balancing vehicles such as Segway HT or hoverboard. The purpose of presented work was to design, build and create control algorithms of the double inverted pendulum on a cart. To enable infinite rotational movement of the upper pendulum, the transmission wires were routed via a slip ring. In order to determine the pendulum control law, the physical and mathematical model of the pendulum was created. It was also decided to use a kinematic control approach instead of a commonly use dynamical approach. The mentioned controller has been tested on the built system.

Presented paper focuses on design process of Soil Sample Retrieval System for simple on-board analysis of collected material and cashing it for further examination. System is created to be mounted on mobile robotic platforms to provide a tool suitable for sampling scientifically interesting sites in remote and even hazardous for human environments [1,2,4].Considered solution will be thoroughly tested during University Rover Challenge 2016 aiding #next team efforts to proof life existence in mock-up Mars surface setting located nearby Mars Desert Research Station, Hanksville Utah. This procedure is one of challenge’s task that proves scientific usefulness of a built rover. It requires collection of unaltered sub-surface soil sample, preliminary examination and cashing it on-board for further analysis.The device needs to be capable of collecting sub-surface soil samples, then transporting gathered material to cash and experiment containers also embedded onto platform [3]. It uses a drilling technique similar to one used to crush concrete and hard rocks.Powder created during sampling is further transported via system of tubes powered with vacuum. In order to create under pressure system was equipped with high-efficient turbine capable of producing up to 45 kg of suction force. This new approach has never been used before during such competition. We believe it will provide much needed advantage during this task over other competitors.The system allows an equal distribution of collected soil into designated containers. They are fitted out with desired scientific equipment. In considered exemplary model there are three containers. One being equipped with pH sensor, second-a humidity sensor and third one for cashing unaltered sample for further laboratory experimentations. It can also be equipped with additional sensors such as black light emitter with CCD sensor to determine cyanobacteria presence.The paper consists of three parts. First one focuses on problem analysis [2,3], system design and preliminary tests description. Second one describes device manufacturing and tests. Last part consists of results analysis with a critical validation of presented solution and recommendations for further development.

Presented paper's main focus is set on improvements in mobile robot's arm control system. This goal is achieved, with two departures from previous way of performing operations, that relays on repositioning each joint separately with a joystick. First part of this article focuses on implementing inverse kinematics algorithms to Arm Control System. This approach allows to perform smooth, precise movements in Cartesian coordinate system, previously impossible to execute. Second part describes a Phantom device that allows an operator to control arm in real time or to program it through teaching, even without access to a manipulator. This solution also incorporates, embedded in rover core systems, inverse kinematics algorithms. The paper is concluded with an review of presented advancements in systems development and prediction of future improvements that may be beneficial to achieve authors main goal - easy, intuitive and precise robot's manipulator control system.

This article aims to design control algorithm of the robotic arm in Mars rover analogue. The robot is remotely controlled and has an autonomous mode, so steering must be precise and intuitive for the operator. The rover operates in similar conditions to Martian in a simulated environment at Mars Desert Research Station Utah in the United States. The article describes control of 6 degrees of freedom robotic arm. The equations of forward kinematics, inverse kinematics and linear motion interpolation, as well as gripper rotation, are derived. Algorithms are written in MATLAB language in such a way that it can be easily adapted into C language and implemented on STM32F7 microcontroller. The first stage is the determination of DH parameters and transformation matrix for simple kinematics. Then, the inverse kinematics equation was determined using the geometric, analytic method. The next step is to write motion interpolation algorithms. In the end, a simulation of manipulator movement made of real components was carried out, taking into account the parameters of motors, gears and joints. Based on the results of the simulation, the maximum velocity of the robotic arm movement was determined. It also helped to create the most natural control scenario for the rover's operator.

The presented work describes the implementation of a system for positioning a mobile robot in a workspace using an AR (Augmented Reality) tag system. This was realized by means of a stereovision camera placed on top of the robot, which, with the aid of a gimbal (a two-joint camera reorientation system), had the ability to dynamically rotate in order to control the entire area around the robot. Markers with predetermined identification numbers were placed at specific locations in the robot’s work area. A topological map of the workspace was created. The robot determined its position based on this map. A simulation and an actual model of a 6-wheeled robotic platform were used to test the stereovision system. The experiment results came from the simulation performed in Gazebo software designed for such analyses and adapted to work with ROS (Robot Operating System) ecosystem. The results of the algorithm’s performance for both the simulation and the actual robotic platform were compared with each other. To verify the algorithm’s performance, tools available in both ROS and Gazebo (including rviz) were used.

This paper investigates the feasibility of manufacturing hydraulic fittings using additive manufacturing (AM) technologies, specifically Fused Deposition Modeling (FDM) and Stereolithography (SLA). The study addresses the environmental challenge of material waste in conventional fitting production by exploring 3D printing as an alternative manufacturing method. Hydraulic fittings were designed using CAD software: SolidWorks 2022 and fabricated using FDM with PETG (Polyethene Terephthalate Glycol) material and SLA with UV-sensitive photopolymer resin. In present studies, on-destructive leak testing was conducted in accordance with PN-EN 1254-4 and PN-EN 1254, at pressures ranging from 0.1 to 1.0 bar. Dimensional accuracy analysis revealed shrinkage of approximately 1% for SLA-printed parts and 2% for FDM-printed parts. Microscopic examination at 50× and 80× magnification showed superior thread quality in SLA samples compared to FDM, which exhibited visible layer separation and material porosity. Leak testing demonstrated that while the brass reference fitting maintained complete seal integrity, both 3D-printed variants failed to achieve leak tightness under operational pressures, with structural failure occurring at 1.0 bar during tightening. The study showed that FDM with PETG material and SLA with UV-sensitive photopolymer resin, despite achieving acceptable dimensional tolerances (±1–2%), do not meet hydraulic leak tightness requirements at pressures exceeding 0.5 bar in their raw state after printing. The results suggest that alternative material formulations (e.g., carbon fiber-reinforced PEEK for FDM or epoxy engineering resins for SLA) warrant further investigation. Potential avenues for improvement include advanced surface treatment, optimization of printing parameters, and modifications to thread geometry to reduce interthread gaps.