Home / Staff / Marek Wojtyra, D.Sc.

Marek Wojtyra, D.Sc.

Scientific degrees

D.Sc., Ph.D., M.Eng.

 

Positions

  • Head of the Division of Theory of Machines and Robots
  • Associate Professor
 

Research interests

  • Multibody systems
  • Robotics
  • Biomechanics

 

Contact info

Tel.: (+48 22) 234 56 10
Fax: (+48 22) 234 75 13
E-mail: mwojtyra (at) meil.pw.edu.pl
'Nowy Lotniczy' Building, room 229

 

Contact hours

mwojtyra

Courses taught

 Selected publications

 
Books
 
Journals
 
Book chapters
  • Wojtyra M.:  Properties of the Dahl Model Applied to Modelling of Static Friction in Closed-Loop Kinematic Chains. ROMANSY 21 - Robot Design, Dynamics and Control. Parenti-Castelli V., Schiehlen W. (Eds.), 413–420, Springer 2016.
  • Woliński Ł., Wojtyra M.: Comparison of Dynamic Properties of Two KUKA Lightweight Robots. ROMANSY 21 - Robot Design, Dynamics and Control. Parenti-Castelli V., Schiehlen W. (Eds.), 93–120, Springer 2016.
  • Wojtyra M.: Numerical Detection of Inactive Joints. RoManSy 2014: Advances on Theory and Practice of Robots and Manipulators. Ceccarelli M., Glazunov V. (Eds.), 167–174, Springer 2014.
  • Frączek J., Surowiec M., Wojtyra M.: Multibody Modelling of a Tracked Robot’s Actuation System. Aerospace Robotics, GeoPlanet: Earth and Planetary Sciences. Sąsiadek J. (Ed.), 75-93, Springer 2013.
  • Frączek J., Surowiec M., Wojtyra M.: Model symulacyjny układu napędowego robota gąsienicowego. Postępy Robotyki. Tom I, red. K. Tchoń i C. Zieliński, 179-188, OWPW, Warszawa 2012. (in Polish)
  • Frączek J., Wojtyra M.: Application of General Multibody Methods to Robotics. Multibody Dynamics. Computational Methods and Applications. Arczewski K., Blajer W., Frączek J., Wojtyra M. (Eds.), 131-152, Springer 2011.
  • Wojtyra M., Frączek J.: Model symulacyjny robota równoległego uwzględniający układ sterowania i dynamikę napędów. Problemy Robotyki. Tom I, red. K. Tchoń i C. Zieliński, 305-314, OWPW, Warszawa 2008. (in Polish)
  • Wojtyra M., Frączek J.: Reakcje w mechanizmach z więzami nadmiarowymi. Teoria Maszyn i Mechanizmów, red. J. Wojnarowski i M. Galicki, Oficyna Wydawnicza Uniwersytetu Zielonogórskiego, 134-140, 2006. (in Polish)
  • Kornuta T., Wojtyra M., Mianowski K., Zieliński C.: Kalibracja systemu wielorobotowego. Postępy Robotyki: Systemy i współdziałanie robotów. Tom. II, red. K. Tchoń, 97-106, WKiŁ, Warszawa, 2006. (in Polish)
  • Mianowski K., Wojtyra M.: Wirtualny model manipulatora POLMAN-6 typu „platforma Stewarta” przeznaczonego do pomiarów. Postępy robotyki. Sterowanie robotów z percepcją otoczenia. Tom I, red. K. Tchoń. 315-322. WKiŁ, 2005. (in Polish)
  • Mianowski K., Nazarczuk K., Wojtyra M., Szynkiewicz W., Zieliński C., Woźniak A.: Application of the RNT Robot to Milling and Polishing. RoManSy 13, Theory and Practice of Robots and Manipulators, 421-429, Springer 2002.
  • Wojtyra M.: Applicability of human gait patterns to biped gait control - computer simulation. RoManSy 12: Theory and Practice of Robots and Manipulators, 393-400, Springer 1999.
 
Conference proceedings
  • Wojtyra M., Frączek J.: Remarks on modeling of static friction in closed-loop kinematic chains. The ECCOMAS Thematic Conference Multibody Dynamics 2015, 2 pages (PDF), Barcelona, Spain, June 29 - July 2, 2015.
  • Wojtyra M.: On Some Problems with Modeling of Coulomb Friction in Self-locking Speed Reducers. ASME Conference Proceedings: 10th International Conference on Multibody Systems, Nonlinear Dynamics and Control, 9 pages, Buffalo NY, USA, August 17-20, 2014.
  • Wojtyra M.: A feasibility study of the local calibration method. The ECCOMAS Thematic Conference Multibody Dynamics 2013, Book of abstracts, 339-340, Zagreb, Croatia, July 1 - 4, 2013.
  • Wojtyra M., Frączek J.: Constraint Reactions in Multibody Systems with Redundant Nonholonomic Constraints. The 2nd Joint International Conference on Multibody System Dynamics, 13 pages (PDF), Stuttgart, Germany, May 29 - June 1, 2012.
  • Wojtyra M., Frączek J.: Overconstrained multibody systems – known and emerging issues. EUROMECH Colloquium 524. Multibody system modelling, control and simulation for engineering design – Program and abstracts, 62-63. University of Twente, Enschede, Netherlands, February 27–29, 2012.
  • Wojtyra M., Frączek J.: A comparison of various methods of redundant constraints handling in multibody system simulations. ASME Conference Proceedings, Vol. 4: 8th International Conference on Multibody Systems, Nonlinear Dynamics and Control, 95-104, Washington DC, USA, August 29-31, 2011.
  • Frączek J., Surowiec M., Wojtyra M.: A simulation study of a mobile robot with self-locking speed reducers. Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics 2011 (CD-ROM), 19 pages, Brussels, Belgium, July 4-7, 2011.
  • Wojtyra M., Frączek J.: Joint reactions in overconstrained rigid or flexible body mechanisms. Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics 2011 (CD-ROM), 15 pages, Brussels, Belgium, July 4-7, 2011.
  • Wojtyra M., Frączek J.: Modelling and Simulation of a Mobile Robot with Self-Locking Speed Reducers. Proceedings of the 13th IFToMM World Congress (CD-ROM), 8 stron, Guanajuato, Mexico, June 19-23, 2011.
  • Frączek J., Surowiec M., Wojtyra M.: Multibody Modelling of a Tracked Robot Actuation System. I Warsztaty Robotyka w Astronautyce i Aeronautyce, pp. 20-23, Warszawa, 8–9 czerwca, 2011.
  • Frączek J., Wojtyra M.: Joint Reactions Solvability in Spatial MBS with Friction and Redundant Constraints. Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics 2009 (CD-ROM), 21 pages, Warsaw, Poland, June 29 – July 2, 2009.
  • Frączek J., Wojtyra M.: Application of General Multibody Methods to Robotics. Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics 2009 (CD-ROM), 19 pages, Warsaw, Poland, June 29 – July 2, 2009.
  • Wojtyra M., Frączek J.: Redundant Constraints Reactions in Rigid MBS with Coulomb Friction in Joints. Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics 2007 (CD-ROM), 17 pages, Milan, Italy, June 25-28, 2007.
  • Davliakos I., Papadopoulos E., Frączek J., Wojtyra M.: The Influence of Dynamics Model Simplifications on an Electrohydraulic Stewart Platform Model-Based Control Process. Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics 2007 (CD-ROM), 18 pages, Milan, Italy, June 25-28, 2007.
  • Wojtyra M., Frączek J.: Reactions of Redundant or Singular Constraints in Mechanisms with Rigid Links. Proceedings of the 12th IFToMM World Congress (CD-ROM), 6 pages, Besançon, France, June 18-21, 2007.
  • Wojtyra M: How Precise Is the Leg Positioning During Human Walking? Proceedings of the ECCOMAS Thematic Conference Multibody 2005, Advances In Computational Multibody Dynamics (CD-ROM), 9 pages, Madrid, Spain, June 21-24, 2005.
  • Mianowski K., Wojtyra M.: Virtual Prototype of a 6-DOF Parallel Robot. Proceedings of the Eleventh World Congress in Mechanism and Machine Science, 1604-1608, Tianjin, China, April 1-4, 2004.
  • Matej J., Piotrowski J., Wojtyra M., Frączek J.: Modelling and safety examination of the long bimodal train on curved track using ADAMS/RAIL. The 1st MSC.ADAMS European User Conference, London, November 13-14, 2002.
  • Wojtyra M.: Multibody Model of Human Walking. NATO ASI on Virtual Nonlinear Multibody Systems, 230-235, Prague, Czech Republic, June 23 – July 3, 2002.
  • Pędzisz M., Wojtyra M.: Dynamical analysis of semi-automatic sniper rifle. 16th ADAMS European Users’ Conference, Berchtesgaden, Germany, November 14-15, 2001.
  • Wojtyra M.: Dynamical Analysis of Human Walking. 15th ADAMS European Users’ Conference, Rome, Italy, November 15-17, 2000.
  • Wojtyra M.: Applicability of human gait patterns to biped gait control - computer simulation. Theory and Practice of Robots and Manipulators, Proceedings of the Twelfth CISM-IFToMM Symposium, 393-400, Paris, France, July 6-9, 1998.