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Maciej Trojnacki

Maciej Trojnacki
PIAP Space sp. z o.o.

PhD DSc Eng.

About

97
Publications
30,381
Reads
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203
Citations
Additional affiliations
February 2020 - present
PIAP Space sp. z o.o.
Position
  • Project Manager
November 2018 - present
EDUROCO sp. z o.o.
Position
  • Project Manager
October 2009 - September 2018
Warsaw University of Technology
Position
  • Professor (Associate)
Education
September 2013 - September 2014
Silesian University of Technology
Field of study
  • Mechanics, Dynamics modeling of wheeled mobile robots
October 2000 - June 2004
Rzeszów University of Technology
Field of study
  • Machine Construction and Use (Robotics)
October 1994 - June 1999
Rzeszów University of Technology
Field of study
  • Mechanical Engineering, Aviation (aircraft control systems)

Publications

Publications (97)
Book
Full-text available
Praca dotyczy modelowania wybranych konstrukcji mobilnych robotów kołowych. Obejmuje część teoretyczną, symulacyjną i doświadczalną. W części teoretycznej pracy opisany jest stan wiedzy dotyczący metod mo-delowania. Omówione są zagadnienia kinematyki i dynamiki, stosowane modele opon pojazdów kołowych oraz problematyka identyfikacji i analizy wrażl...
Article
The problem of modeling of dynamics of a three-wheeled mobile robot with front wheel driven and steered is analyzed in this paper. Kinematical structure and kinematics of the robot are described. A universal methodology of analytical modeling of robot’s dynamics is applied. This methodology takes into account wheel-ground contact conditions and whe...
Chapter
The paper tackles the problem of determination of motion parameters of a wheeled mobile robot using the inertial measurement method. By the motion parameters one means: positions, linear velocities and accelerations of characteristic points of the robot, as well as Euler angles and angular velocity and acceleration of a robot body. Existing methods...
Article
Full-text available
The paper presents a method of localization of a mobile robot which relies on aggregation of data from several sensors. A review of the state of the art regarding methods of localization of ground mobile robots is presented. An overview of design of the four-wheeled mobile robot used for the research is given. The way of representation of robot env...
Article
Full-text available
The paper is concerned with the problem of automatic parking of a car. Current state of the art in self-driving cars and methods of automatic parking were discussed. For simulation studies, the kinematic bicycle model of the vehicle was assumed. A method of solving the problem of automatic parking was proposed. The idea of this method consists in p...
Chapter
This two-part paper is concerned with the problem of motion planning and control of PIAP IRYS social robot mobile platform, which is the adapted NOMAD 200 robot. In the first part of the work the developed hardware and software architectures of the research object, as well as its kinematic structure are described. The robot consists of two independ...
Chapter
The paper is the second part of the work concerned with the motion planning and control of PIAP IRYS social robot mobile platform, which is the adapted NOMAD 200 robot with synchronously driven and steered wheels. In the first part of the work developed hardware and software architectures of the research object, as well as its kinematic structure w...
Article
Full-text available
The paper discusses mechanical properties of modern wheeled mobile robots including aspects of kinematics and dynamics. Relevant features of these robots and of used types of wheels are considered. Robots are categorized into six groups according to kinematic structures, which can be obtained using various types of wheels. For each group mechanical...
Patent
Full-text available
Opis wynalazku: Przedmiotem wynalazku jest mechanizm do niezależnego blokowania obrotu i wysuwu dwóch współpracujących ze sobą elementów, które tworzą parę obrotowo-przesuwną. W wielu przypadkach w konstrukcjach mechanicznych niezbędna jest możliwość dokonywania niezależnego obrotu i wysuwu dwóch współpracujących ze sobą elementów, które tworzą p...
Chapter
The paper describes concept behind IRYS social robot and a system of accompanying tools for application in the education and entertainment areas. Some important developments in these areas are pointed out. The concept of a multi-faceted solution of the system is described, which includes the robot and its high fidelity computer simulator. Main assu...
Book
There is no doubt that mechatronics is one of the elements conditioning the advent and success of the modern stage of industrial development. Knowledge on this subject is being developed both at worldwide universities and in industrial practice. Collaboration between these two entities is crucial for the results and the level of this development. R...
Patent
Full-text available
Opis wynalazku: Przedmiotem wynalazku jest przegub obrotowy o regulowanej podatności. W przypadku niektórych układów mechanicznych zachodzi konieczność zmiany podatności przegubu obrotowego. Sytuacja taka ma miejsce ma przykład dla manipulatora robota, który ma realizować różne zadania, dla których różne są wymagania dotyczące sztywności przegubó...
Conference Paper
The problem of modeling of dynamics of a three-wheeled mobile robot is analyzed in this paper. The robot has two non-steered driven wheels and a caster. Kinematic structure of the robot and its kinematics are described. Dynamics model of the robot dedicated for control applications is derived. It takes into account tire-ground contact conditions an...
Conference Paper
The work is concerned with quantitative analysis of tire models from the point of view of their use in studies of dynamics of lightweight wheeled mobile robots. The analyses are carried out for the four-wheeled skid-steered mobile robot dedicated for investigations of robot kinematics and dynamics. Robot kinematics and definitions of parameters des...
Patent
Full-text available
Opis wynalazku: Przedmiotem wynalazku jest torba podróżna, a zwłaszcza walizka wyposażona w układ pomiaru masy całkowitej. W wielu przypadkach, niezbędna znajomość ciężaru bagażu, zabieranego ze sobą, na przykład na pokład samolotu. Wcześniejsza znajomość ciężaru, na przykład walizki, pozwala na uniknięcie stresujących sytuacji podczas odprawy ba...
Patent
Full-text available
Opis wynalazku: Przedmiotem wynalazku jest torby podróżna, a zwłaszcza walizka wyposażona w układ pomiaru masy całkowitej. W wielu przypadkach, niezbędna jest znajomość ciężaru bagażu, zabieranego ze sobą, na przykład na pokład samolotu. Wcześniejsza znajomość ciężaru, na przykład walizki, pozwala na uniknięcie stresujących sytuacji podczas odpra...
Patent
Full-text available
Opis wynalazku: Przedmiotem wynalazku jest urządzenie do pomiaru sił i momentów sił przenoszonych przez koło jezdne pojazdu. W wielu przypadkach dla konstruktora pojazdu istotna jest znajomość sił i momentów sił prze-noszonych przez koła jezdne. Pozwala to na zapewnienie odpowiedniej wytrzymałości układu jezdnego, może pozwolić na optymalizację m...
Chapter
This paper is concerned with a mechanical system for determination of forces and moments of force transmitted by a wheel of a mobile robot during its motion. At the beginning, the importance of the knowledge of forces and moments of force acting on a wheel of the vehicle are highlighted. Such knowledge may be useful during designing and optimizing...
Article
Full-text available
Paper concerns the study of longitudinal motion of a four--wheeled mobile robot on sand for various desired velocities. Design of the robot and assumed modeling methodology were described. Results of simulation and experimental research of robot motion were presented.
Patent
Full-text available
Opis wynalazku: Przedmiotem wynalazku jest moduł służący do pomiaru masy całkowitej torby podróżnej, mającej nieruchome nóżki do podpierania torby oraz kółka do jej przemieszczania. W wielu przypadkach, jest niezbędna znajomość masy bagażu, zabieranego ze sobą na przy-kład na pokład samolotu. Wcześniejsza znajomość masy, na przykład walizki, pozw...
Article
Full-text available
The paper is concerned with the problem of tracking control of wheeled mobile robots (WMRs) using predictive control systems. Various kinematic structures of WMRs important from the point of view of motion control are discussed. A hierarchical approach to the problem of motion control of this kind of robots is presented. The problems of trajectory...
Chapter
The paper is the second part of the work concerned with the problem of trajectory tracking control of a four-wheeled PIAP GRANITE mobile robot. The first part of the work was devoted to theoretical considerations. Research object and its kinematics were described. Robot motion control system structure comprising posture controller and drive unit co...
Chapter
The paper is concerned with the problem of trajectory tracking control of a four-wheeled PIAP GRANITE mobile robot. All wheels of the robot are non-steered and the servomotors are used for driving the robot. Kinematic structure of the robot and its kinematics are described. Structure of robot motion control system containing posture controller and...
Chapter
Tire models for vehicle dynamics studies have been developed for many years to suit the needs of automobiles and the automotive industry. Recently the growing use of advanced simulation techniques in design of wheeled mobile robots calls for analysis of the possibility to use the existing automotive tire models in the wheeled mobile robots dynamics...
Article
Full-text available
Praca stanowi drugą część publikacji „Synteza dynamicznie stabilnego chodu dwupodporowego czteronożnego robota kroczącego”. W pierwszej części przedstawiono metodę wyznaczania sił reakcji podłoża działających na nogi robota. Dla dwupodporowego chodu diagonalnego robota czteronożnego rozwiązano zagadnienie równowagi sił i momentów sprawdzając warune...
Article
Full-text available
The paper is concerned with the problem of trajectory tracking control of a four-wheeled skid-steered mobile robot in case of non-zero initial position and course (posture) errors. Object of the research, its kinematics and dynamics were described. Structure of robot motion control system containing posture controller and drive controller is shown....
Article
Full-text available
The paper concerns a mechanical system for determination of forces and torques transmitted by a wheel of mobile robot during its motion. At the beginning the importance of knowledge of the forces and torques acting on a wheel of the vehicle was highlighted. Such knowledge may be useful during the design and optimization of construction of a vehicle...
Chapter
The paper is concerned with the problem of determination of motion parameters of a wheeled mobile robot using the inertial measurement method. The algorithm proposed in Part 1 of the article is verified in empirical experiments with a four-wheeled mobile robot PIAP SCOUT. Main design features of the robot are presented. The measurement and control...
Chapter
The paper presents design of a control structure that enables integration of a kinematic and a neural network controller for a four-wheeled mobile robot subject to wheels slip. The controller is proposed to make the actual velocity of the wheeled mobile robot reach the desired velocity, although the wheeled mobile robot is even with system uncertai...
Article
Full-text available
Mobilne roboty lądowe są z założenia przeznaczone do wyręczenia człowieka z realizacji zadań niebezpiecznych lub monotonnych. Od początku, tj. od około lat osiemdziesiątych XX wieku były one stosowane do transportu w przemyśle, w specjalnie dostosowanych halach fabrycznych. Od tego czasu zakres ich zastosowań w transporcie stale się rozszerza. Robo...
Patent
Full-text available
Opis wynalazku: Przedmiotem wynalazku jest stopa robota kroczącego czteronożnego realizującego chód diagonalny, w którym występują dwie fazy ruchu związane z przenoszeniem na przemian dwóch nóg robota, tj. lewej przedniej i prawej tylnej lub prawej przedniej i lewej tylnej. Roboty kroczące posiadają różnego typu stopy, które w ścisły sposób zależą...
Article
Full-text available
The paper presents a sequential neural network (NN) identification scheme for the four-wheeled mobile robot subject to wheel slip. The sequential identification scheme, different from conventional methods of optimization of a cost function, attempts to ensure stability of the overall system while the neural network learns the nonlinearities of the...
Article
Full-text available
This work is concerned on sensitivity analysis of semiau-tonomy algorithm of a mobile robot to environmental sensors' failures. Construction of the robot, semiauton-omy algorithm and used sensors have been described. The algorithm bases on a reactive hybrid approach that merges data from different types of sensors and calculates resulting velocitie...
Article
Full-text available
The work concerns investigations of motion of the PIAP Scout wheeled mobile robot during turning maneuver. Robot design, dynamics model and implementation of the dynamics model in Matlab/Simulink package are described. Selected results of simulation research of robot motion are presented. Environment of experimental research is described and select...
Article
Full-text available
The work concerns modeling of tire of SCOUT mobile robot. In the beginning existing tire designs are discussed with focus on non-typical airless tire which is used in the SCOUT robot. Results of material specimens' tests are showcased alongside with tests performed on separate wheel assembly components as well as on the complete assembly. Using tir...
Chapter
The paper is concerned with the problem of straight-line motion stabilization of a wheeled mobile robot with non-steered wheels. This system is dedicated for teleoperation mode of the robot and aims at improvement of control experience of a human operator. The structure of the robot motion stabilization system based on a PD regulator with feedback...
Chapter
The paper concerns the problem of trajectory tracking control of a four-wheeled PIAP SCOUT mobile robot with non-steered wheels. For this kind of wheeled robots, it is impossible to find kinematic relationship between robot's body motion and motion of driven wheels, because of inherent sliding of wheels on the ground during turning. This is an impo...
Chapter
The problem of dynamics modeling of a four-wheeled mobile robot is analyzed in this paper. All wheels of the robot are non-steered and the servo-motors are used for driving the robot. Three cases of the robot drive system are considered. In the first case, two out of four wheels of the robot are independently driven, i.e., a pair of front or rear w...
Chapter
Full-text available
Praca stanowi przegląd możliwości mobilnych robotów lądowych pod kątem zastosowania ich na potrzeby wojska. Omówione są przykładowe rozwiązania robotów stosowanych na potrzeby bezpieczeństwa i obronności, oraz te, które dzięki swoim możliwościom mogą potencjalnie znaleźć takie zastosowanie. Przedstawiona jest metodyka projektowania mobilnych robotó...
Article
This paper concerns an energy efficient global path planning algorithm for a four-wheeled mobile robot (4WMR). First, the appropriate graph search methods for robot path planning are described. The A, heuristic algorithm is chosen to find an optimal path on a 2D tile-decomposed map. Various criteria of optimization in path planning, like mobility,...
Article
Full-text available
This paper concerns the study of longitudinal movement of a mobile robot SCOUT for various characteristics of desired velocity. At the beginning, the construction of the robot and prepared research environment were discussed. The results of simulation research of robot motion and the analogous experimental tests were presented. In the studies the d...
Article
Full-text available
Article presents the use of technology in FDM rapid prototyping of high-strenght parts of mobile robots. This paper describes the methodology for the preparation of parts for production them using FDM technology, and presents the results of research of materials. Also presented are selected guidelines for designers, designing parts for use in the m...
Article
Full-text available
The paper describes conception and design of the reconfigurable robot Cameleon. Results of simulation of robot’s motion in MD Adams software environment are presented. Also included are results of static tensile tests of samples made of selected materials commonly used with additive manufacturing technologies. Based on the material properties and c...
Article
Full-text available
The paper describes existing design solutions for three-legged robots. The methodology of modeling and simulation of mechanical systems using the SimMechanics toolbox of Matlab/Simulink package is discussed on the example of author’s own design of a three-legged robot. Robot’s kinematic structure, it’s CAD model and parameters adopted in the conduc...
Article
Full-text available
This paper concerns the simulation of climbing the stairs of a reconfigurable mobile robot Cameleon using MD Adams program. The robot's idea is described and kinematical structures of its modules are depicted. Robot's CAD model developed in Autodesk Inventor program is presented. The idea of robot's climbing the stairs is described and the stages o...
Article
Full-text available
In this work innovative approach to designing and manufacturing of a reconfigurable mobile robot-Cameleon is presented. The introduction provides description of an incremental technology which can be applied in the context of the design of mobile robots. Then a concept of a reconfigurable mobile robot is described as well as the construction of the...
Article
Full-text available
This paper describes methodology of modeling and motion simulation of a mobile hybrid robot using MD Adams software. The construction of the robot was modeled taking into account the geometry and mass parameters, based on its CAD model. The environment for simulation tests was described and simulation of the robot climbing the stairs was conducted....
Article
Full-text available
The work covers analysis of mobility of a four-wheeled robot based on its dynamics model. Several configurations of robot’s drive system are considered: one driven axle, two independently driven axles and drive transmission from one axle to another by means of a toothed belt. The analysis of robot’s mobility is limited to cases of its motion with c...
Conference Paper
This paper presents an innovative motion synthesis method for a quadruped robot, which involves a simultaneous transfer of two of the robot's legs, along with its body. Motion synthesis is carried out for straight-line and rotational motion. The solution to the inverse kinematics problem of the robot's legs is given, which makes it possible to dete...
Article
Full-text available
This work is concerned on sensitivity analysis of semiautonomy algorithm of mobile combat robot to envi-ronmental sensors' damage. The construction of the robot, semiautonomy algorithm and used sensors have been described. This algorithm takes into account envi-ronmental sensors' damage. Simulation research results of semiautonomy algorithm using M...
Article
Full-text available
This work is concerned on sensitivity analysis of semiautonomy algorithm of mobile robot to environmental sensors' failures. The construction of the robot, semiautonomy algorithm and used sensors have been described. The algorithm bases on a reactive hybrid approach that merges data from different types of sensors and calculates resulting velocitie...
Article
Full-text available
In this paper, on example of a three-wheeled mobile robot, a universal methodology for analytical modeling of dynamics of ground mobile robots is presented. This methodology takes into account wheel-ground contact conditions and wheels slippage. Essence of the approach used in this work is the division of the robot model into two separate parts, on...
Article
Full-text available
In this paper, the method of generating biped robot motion using recorded human gait is presented. The recorded data were modified taking into account the velocity available for robot drives. Data includes only selected joint angles, therefore the missing values were obtained considering the dynamic postural stability of the robot, which means obta...
Article
Full-text available
The hereby work discusses the possibilities of modelling different types of mechanisms using the SimMechanics toolbox of the Matlab/Simulink package. Presentations are made on simulation results for sample mechanisms. The mechanism simulations were supported by a row of animations displaying their motions. The presentation features the benefits, li...
Article
Full-text available
This paper concerns a throwable tactical robot (TTR) for special purposes. The necessity of use of that kind of robots and the existing design solutions are discussed. There are also described construction, parameters, and principles of operation of the robot and the control panel as well as the conducted robot tests.
Article
Full-text available
In this paper state of the art of mobile hybrid robots was depicted. These kinds of mobile robots can move in a more diversity terrain than traditional wheeled or tracked ones. In this work kinematic structure of small mobile hybrid robot was illustrated. The sequence of climbing of this robot on the stairs was described. The model of the robot for...
Article
Full-text available
Praca stanowi kontynuację badań opisanych w publikacji „Generowanie ruchu robota dwunożnego z wykorzystaniem danych opisujących chód człowieka” (PAR 3/2009). Przedstawiono w niej metodę wyznaczania rozkładu sił reakcji podłoża podczas dynamicznie stabilnego chodu robota dwunożnego. Po zapisaniu równań opisujących dynamikę ruchu robota, wyznaczono s...
Conference Paper
Full-text available
Paper describes Proteus-the system, which is able to work near the industrial crisis zone, coordinating and supporting the work of firefighters and other rescue forces. Proteus collects and analyzes the data about the area and manages the mobile supporting robots to aid or even substitute humans in risky interventions. In the paper the system's arc...
Article
Full-text available
W artykule przedstawiono metodę generowania ruchu robota dwunożnego z wykorzystaniem zarejestrowanego chodu człowieka. Zarejestrowane dane zmodyfikowano uwzględniając możliwą dla napędów robota prędkość ruchu. Ponieważ zawierały one tylko wybrane kąty stawowe, dlatego uzupełniono brakujące wielkości w taki sposób, aby zapewnić balansowanie dynamicz...
Article
Full-text available
The method of two-legged diagonal gait synthesis for the quadruped robot is introduced. The problem of dynamic postural equilibration taking into account the role of compliant feet is solved. The equilibrium conditions are split to the feet attachments points and the points within the feet-end area. In simulation example the slip avoidance conditio...
Article
In this paper the method of stability analysis of dynamic symmetrical gaits is discussed. The problem of dynamic postural equilibrium, taking into account the role of compliant feet, is solved. The equilibrium conditions are split between the foot attachment points and the points within the foot-end area. The present method is useful for motion syn...
Conference Paper
Full-text available
This paper presents tendencies in mobile ground robots designs. The review of up-to-date robots is focused on special use applications. New trends in mobile robotics are also considered. Some up-to-date designs of robots durable enough to be thrown for a certain distance by human operator are finally presented.
Article
Full-text available
Praca stanowi drugą część publikacji „Tendencje rozwoju mobilnych robotów lądowych”. W pierwszej części dokonano przeglądu współczesnych konstrukcji robotów mobilnych w kontekście zastosowań specjalnych. Niniejsza część publikacji dotyczy nowych trendów w robotyce mobilnej. Koncentruje się na tematyce związanej z robotami rzucanymi. Trzecia część p...
Article
Full-text available
Praca stanowi pierwszą część publikacji „Tendencje rozwoju mobilnych robotów lądowych”. W niniejszej pracy omówiono aktualne tendencje rozwoju robotów mobilnych, koncentrując się przede wszystkim na robotach kołowych i gąsienicowych. Dokonano przeglądu współczesnych konstrukcji takich robotów w kontekście zastosowań specjalnych. Druga część publika...
Article
Full-text available
Praca stanowi trzecią część publikacji „Tendencje rozwoju mobilnych robotów lądowych”. W pierwszej części dokonano przeglądu współczesnych konstrukcji robotów mobilnych w kontekście zastosowań specjalnych. W drugiej z kolei opisano nowe trendy w robotyce mobilnej, związane głównie z robotami rzucanymi. W niniejszej pracy skupiono uwagę na stanie wi...
Article
Full-text available
W pracy przedstawiono metodę wyznaczania sił reakcji podłoża działających na nogi robota. Dla dwupodporowego chodu diagonalnego robota czteronożnego rozwiązano zagadnienie równowagi sił i momentów sprawdzając warunek unikania poślizgu. Podano warunek utrzymania stabilnej postury z uwzględnieniem pracy elementów sprężystych zamocowanych w stopach.
Article
Full-text available
The problem of tracking control of wheeled mobile robots (WMRs) using neural network is analyzed in this paper. The synthesis of control systems using the second Lapunov method was carried out. As a result of the synthesis, the stability of the designed systems was proven. A large number of computer simulations for these control systems using Matla...

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Projects

Projects (13)
Archived project
The project concerns throwable tactical robot (TTR) designed for active teleobservation in military, police and rescue applications.
Project
The aim of this project are studies in the field of modeling, motion planning and control of autonomous ground vehicles.