Marcin Pękal, Ph.D.

Scientific degree Ph.D. Position Assistant Professor (Adjunct) Contact Tel.: (+48) 22 234 71 35 E-mail: Marcin.Pekal(at)pw.edu.pl 'Nowy Lotniczy' Building, room 234 Office hours

Scientific interests

• Robotics
• Multibody systems

Courses taught

• Podstawy automatyki i sterowania I
• Dynamika układów wieloczłonowych II
• Laboratorium pomiarów, automatyki i sterowania I
• Laboratorium pomiarów, automatyki i sterowania II
• Podstawy robotyki
• Miernictwo dynamiczne

In databases

• WUT Base of Knowledge
• ORCID
• Scopus
• ResearcherID
• Publons
• Google Scholar
• ResearchGate

Selected publications

Journals

• Pękal M., Malczyk P., Wojtyra M., Frączek J.: Divide-and-conquer-based approach for the reaction uniqueness analysis in overconstrained multibody systems. Multibody System Dynamics, 2024. DOI:10.1007/s11044-024-10013-5
• Pękal M., Wojtyra M.: Constraint-matrix-based method for reaction and driving forces uniqueness analysis in overconstrained or overactuated multibody systems. Mechanism and Machine Theory, Vol. 188, 105368, Elsevier 2023.
• Wojtyra M., Pękal M., Frączek J.: Utilization of the Moore-Penrose inverse in the modeling of overconstrained mechanisms with frictionless and frictional joints. Mechanism and Machine Theory, Vol. 153, 103999, Elsevier 2020.
• Pękal M., Wojtyra M., Frączek J.: Free-body-diagram method for the uniqueness analysis of reactions and driving forces in redundantly constrained multibody systems with nonholonomic constraints. Mechanism and Machine Theory, Vol. 133, 329–346, Elsevier 2019.
• Pękal Marcin, Frączek Janusz: A Kinetostatics-Based Study of Uniqueness of Reactions and Drives in Robotics. Journal of Automation, Mobile Robotics and Intelligent Systems, vol. 11, no. 2, 2017, pp. 21-30, DOI:10.14313/JAMRIS_2-2017/13
• Pękal Marcin, Frączek Janusz: Comparison of Natural Complement Formulations for Multibody Dynamics. Journal of Theoretical and Applied Mechanics, vol. 54, no. 4, 2016, pp. 1391-1404, DOI:10.15632/jtam-pl.54.4.1391
• Pękal Marcin, Frączek Janusz: Comparison of selected formulations for multibody system dynamics with redundant constraints. Archive of Mechanical Engineering, vol. 63, no. 1, 2016, pp. 93-112, DOI:10.1515/meceng-2016-0005

Book chapters

• Pękal Marcin, Frączek Janusz, Wojtyra Marek: Nullspace method for the uniqueness analysis of reaction and driving forces in rigid multibody systems with redundant nonholonomic constraints, w: Vibration, Control and Stability of Dynamical Systems / Awrejcewicz Jan [i in.] (red.), 2017, Department of Automation, Biomechanics and Mechatronics, Politechnika Łódzka, ss. 401-412
• Pękal Marcin, Frączek Janusz: Badanie jednoznaczności reakcji i napędów w robotyce metodą kinetostatyki, w: Tchoń Krzysztof, Zieliński Cezary (red.), Prace Naukowe Politechniki Warszawskiej. Elektronika, nr 195. Postępy Robotyki, 2016, OWPW, tom I, ss. 155-164

Conference proceedings

• Pękal Marcin, Frączek Janusz: Nullspace Method for the Reaction Forces Uniqueness Analysis in Rigid Multibody Systems with Redundant Nonholonomic Constraints. Proceedings of International Interdisciplinary PhD Workshop 2017, Łódź, Poland, September 9-11, 2017. ISBN 978-83-7283-858-2.
• Pękal Marcin, Frączek Janusz, Tomulik Paweł: Solvability of reactions and inverse dynamics problem for complex kinematic chains. Proceedings of 21st IEEE Conference on Method and Models in Automation and Robotics, 2016, pp. 1-6, DOI:10.1109/MMAR.2016.7575078