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Łukasz Woliński, Ph.D.

Scientific degree



Assistant Professor (Adjunct)


Tel.: (+48) 22 234 15 46
E-mail: Lukasz.Wolinski(at)

'Nowy Lotniczy' Building, room 028

Office hours

Scientific interests

  • Manipulatory redundantne
  • Sterowanie siłowe
  • Układy wieloczłonowe

Courses taught

Selected publications

  • Woliński Ł., Wojtyra M.: An inverse kinematics solution with trajectory scaling for redundant manipulators. Mechanism and Machine Theory, Vol. 191, 105493, Elsevier 2023.
  • Woliński Ł., Wojtyra M.: A Novel QP-Based Kinematic Redundancy Resolution Method With Joint Constraints Satisfaction. IEEE Access, Vol. 10, 41023–41037, IEEE 2022.
  • Marques F., Woliński Ł., Wojtyra M., Flores P., Lankarani H.M.: An investigation of a novel LuGre-based friction force model. Mechanism and Machine Theory, Vol. 166, 104439, Elsevier 2021.
  • Wojtyra M., Woliński Ł.: Proposition of On-Line Velocity Scaling Algorithm for Task Space Trajectories. ROMANSY 23 - Robot Design, Dynamics and Control. Venture G., Solis J., Takeda Y., Konno A. (Eds.), 423–431, Springer 2021
  • Woliński Łukasz: Algorithm for the KUKA LWR 4+ Robot. In the Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2017, Prague, Czech Republic, 2017
  • Woliński Łukasz, Wojtyra Marek: Comparison of Dynamic Properties of Two LWR 4+ Robots, w: ROMANSY 21 - Robot Design, Dynamics and Control. Proceedings of the 21st CISM-IFToMM Symposium / Parenti-Castelli Vincenzo, Schliehen Werner ( red. ), CISM International Centre for Mechanical Sciences, vol. 569, 2016, Springer, ISBN 978-3-319-33713-5, ss. 413-420
  • Woliński Łukasz: Identification of the Dynamic Parameters of the KUKA LWR4+ Robots and Preliminary Estimation of Their Time Variance, w: 25th International Conference on Theory of Machines and Mechatronic Systems. Modern Trends in Theory of Machines and Mechatronic Systems / Kochanek A., Kądziołka T., Kowalski S. (red.), 2016, ISBN 978-83-936009-3-9, ss. 74-74
  • Woliński Łukasz, Malczyk Paweł: Dynamic modeling and analysis of a lightweight robotic manipulator in joint space, w: Archive of Mechanical Engineering, Polska Akademia Nauk, vol. 62, nr 2, 2015, ss. 279-302
  • Woliński Łukasz: Multibody simulation of the model-based controller for lightweight robot. The ECCOMAS Thematic Conference Multibody Dynamics 2015, 2 strony (PDF), Barcelona, Spain, June 29 - July 2, 2015
  • Woliński Łukasz, Malczyk Paweł: A recursive formulation for the simulation of rigid-body manipulator dynamics. W: The Challenges of Contemporary Science. Theory and Applications. (9th International PhD Students and Young Scientists Conference: Young Scientists Towards the Challenges of Modern Technology), 2014, ss. 93-94