dr hab. Marek Wojtyra

Stopień naukowy

Dr hab. inż.

Stanowiska

Profesor uczelni
Prodziekan ds. Ogólnych i Nauki
Przewodniczący Rady Naukowej Dyscypliny Inżynieria Mechaniczna PW
Redaktor Naczelny Archive of Mechanical Engineering

Kontakt

Tel.: (+48) 22 234 5610
E-mail: Marek.Wojtyra(at)pw.edu.pl

Gmach Nowy Lotniczy, pokój 230

Konsultacje

Zainteresowania naukowe

Układy wieloczłonowe
Robotyka
Biomechanika

Zajęcia dydaktyczne

Informacje w bazach danych

Wybrane publikacje

Książki

Frączek J., Wojtyra M.: Kinematyka układów wieloczłonowych. Metody obliczeniowe. 458 str. + CD, ISBN: 978-83-204-3334-0. WNT, Warszawa, 2008.
Wojtyra M., Frączek J.: Metoda układów wieloczłonowych w dynamice mechanizmów. 180 str. + CD, ISBN: 978-83-7207-703-5. OWPW, Warszawa, 2007.

Publikacje w czasopismach

Woliński Ł., Wojtyra M.: Predictive inverse kinematics with trajectory scaling for redundant manipulators based on quadratic optimization. Mechanism and Machine Theory, Vol. 209, 105988, Elsevier 2025.
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, Vol. 63, 367–396, Springer 2025.
Woliński Ł., Wojtyra M.: An inverse kinematics solution with trajectory scaling for redundant manipulators. Mechanism and Machine Theory, Vol. 191, 105493, Elsevier 2023.
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.
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.
Pawełczyk M., Wojtyra M.: Real World Object Detection Dataset for Quadcopter Unmanned Aerial Vehicle Detection. IEEE Access, Vol. 8, 174394–174409, IEEE 2020.
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.
Wojtyra M.: Modeling of static friction in closed-loop kinematic chains—Uniqueness and parametric sensitivity problems. Multibody System Dynamics, Vol. 39, Iss. 4, 337–361, Springer 2017.
Wojtyra M.: On Some Problems With Modeling of Coulomb Friction in Self-Locking Mechanisms. Journal of Computational and Nonlinear Dynamics, Vol. 11, Iss. 1, 011008 (1-10), ASME 2016.
Wojtyra M., Frączek J.: Solvability of reactions in rigid multibody systems with redundant nonholonomic constraints. Multibody System Dynamics, Vol. 30, Iss. 2, 153-171, Springer 2013.
Wojtyra M., Frączek J.: Comparison of Selected Methods of Handling Redundant Constraints in Multibody Systems Simulations. Journal of Computational and Nonlinear Dynamics, Vol. 8, Iss. 2, 021007 (1-9), ASME 2013.
Wojtyra M., Frączek J.: Joint reactions in rigid or flexible body mechanisms with redundant constraints. Bulletin of the Polish Academy of Sciences: Technical Sciences, Vol. 60, Iss. 3, 617–626, 2012.
Frączek J., Wojtyra M.: On the unique solvability of a direct dynamics problem for mechanisms with redundant constraints and Coulomb friction in joints. Mechanism and Machine Theory, Vol. 46, Iss. 3, 312-334, Elsevier 2011.
Frączek J., Wojtyra M.: Dynamic analysis of mechanisms with joint friction in the presence of redundant constraints. International Journal of Applied Mechanics and Engineering, 15(3), 685-698, 2010.
Wojtyra M.: Joint reactions in rigid body mechanisms with dependent constraints. Mechanism and Machine Theory, Vol. 44, Iss. 12, 2265-2278, Elsevier 2009.
Frączek J., Wojtyra M., Davliakos I., Papadopoulos E.: Simulational Study of an Hydraulically Driven Parallel Manipulator Control System. Journal of KONES Powertrain and Transport, Vol. 15, No. 1, 51-68, 2008.
Wojtyra M.: Joint Reaction Forces in Multibody Systems with Redundant Constraints. Multibody System Dynamics, Vol. 14, No. 1, 23-46, Springer 2005.
Frączek J., Wojtyra M.: Teaching Multibody Dynamics at Warsaw University of Technology. Multibody System Dynamics, Vol. 13, No. 3, 353-361, Springer 2005.
Wojtyra M.: Multibody Simulation Model of Human Walking. Mechanics Based Design of Structures and Machines, Vol. 31, Iss. 3, 357-379, Marcel Dekker Inc., New York 2003.
Wojtyra M.: Zastosowanie modelu z masami drgającymi do analizy chodu człowieka. Acta of Bioengineering and Biomechanics, Vol. 2, Supl. 1, 613-618, 2000.
Nazarczuk K., Mianowski K., Wojtyra M.: Manipulator wielokorbowy robota POLYCRANK. Pomiary Automatyka Kontrola, 8'99, 5-9, 1999.
Furman F., Kukarenko E., Buśko Z., Morecki A., Wojtyra M.: Laboratory stand for research and teaching robotics. Pomiary Automatyka Kontrola, 1'95, 2-5, 1995.
Frączek J., Wojtyra M.: Dynamic analysis of mechanisms and robots with redundant constraints, part II ‑ direct problem. Archive of Mechanical Engineering, Vol. XLII, 177-187, 1995.
Frączek J., Wojtyra M.: Dynamic analysis of mechanisms and robots with redundant constraints, part I ‑ inverse problem. Archive of Mechanical Engineering, Vol. XLII, 167-176, 1995.

Rozdziały w książkach

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.
Wojtyra M.: The Moore-Penrose Inverse Approach to Modeling of Multibody Systems with Redundant Constraints. Advances in Mechanism and Machine Science. IFToMM WC, Mechanisms and Machine Science, vol 73, Uhl T. (Ed.), 3087–3096, Springer, Cham, 2019.
Wojtyra M.: Modeling of Static Friction in Closed-Loop Kinematic Chains with Multiple Degrees of Freedom—A Study of Uniqueness and Parametric Sensitivity Problems. ROMANSY 22 - Robot Design, Dynamics and Control. Arakelian V., Wenger P. (Eds.), 491–498, Springer 2018.
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.
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.
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.
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.
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.
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.

Publikacje konferencyjne

Wojtyra M.: Comparison of Two Versions of the LuGre Model Under Conditions of Varying Normal Force. The ECCOMAS Thematic Conference Multibody Dynamics 2017, 10 stron, Prague, Czech Republic, June 19 - 22, 2017.
Wojtyra M., Frączek J.: Remarks on modeling of static friction in closed-loop kinematic chains. The ECCOMAS Thematic Conference Multibody Dynamics 2015, 2 strony, 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 stron, 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 stron (PDF), Stuttgart, Germany, May 29 - June 1, 2012.
Wojtyra M., Frączek J.: Overconstrained multibody systems – known and emerging issues. The 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 stron, 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 stron, 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 stron, 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 stron, 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 stron, 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 stron, Besançon, France, June 18-21, 2007.
Wojtyra M: How Precise Is the Leg Positioning During Human Walking? Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics 2005 (CD-ROM), 9 stron, 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.
Wojtyra M.: Joint reaction forces in multibody system with redundant constraints. Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics 2003 (CD-ROM), 16 stron, Lisbon, Portugal, July 1-4, 2003.
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.