Planning task-based motions of multi-link manipulator models prone to vibration

A new method of designing tip-point trajectories for industrial manipulators with structural flexibility and friction in their supports and joints is presented in the paper. The method is based upon the formulation of the reference dynamics model of the manipulator model. The reference dynamics models are derived off-line for desired trajectories, i.e. trajectory patterns are delivered in constraint equation forms. A library of reference dynamics models can be generated off-line and serve for verification of desired motions feasibility, ability of reaching required velocities and accelerations in order to obtain the desired trajectories, and estimate power needed for desired motions execution. It enables off-line tests of a system model behavior when it moves a desired trajectory. Also, the reference dynamics enables verification of vibrations that may accompany desired motions, since at the stage of defining a desired trajectory, e.g. for performing a servicing task, a system behavior is unknown. The paper is dedicated to reference dynamics analysis, for a multi-link manipulator model, for which friction in joints is modeled by the LuGre model, the manipulator links are rigid but light and prone to vibrations. The results of the reference dynamics analysis are presented in a series of simulation studies

Usage of geodetic materials in multistage landscape revitalization project process of Strzelce Wielkie village

Country revitalization is a long-term multistage process which needs consideration of historic and contemporary determinants. In the process of landscape revitalization in Strzelce Wielkie village (Szczurowa commune) performed within the frames of a programme based on international cooperation, Polish and German experiences in such investments realization as well as owned output in the range of theoretical elaborations were used.1 Revitalization of Młynówka stream flowing previously through the whole place was accepted as the most important project challenge and at the same time future investment purpose emphasizing among others diversity of surrounding landscape in its upper, middle and lower flow. The first research already revealed great variety of forms in the elaborated area and existence of numerous historical elements both vegetal and architectural ones. Usage of geodetic materials contributed to localize and include in documentation particular landscape forms, enabled to perform multi-range in situ researches of country landscape and even recreating of 19th century spatial solutions2 . Such  elaboration made with use of maps and geodetic plans allowed to preserve elements that are important from the cultural heritage point of view and also to use them in prepared project conception of the place’s spatial development