Piotr Krogul

The efficient operation of hydraulic manipulators with expansive working areas is crucial in various applications such as the construction industry, the rescue service, and the military. These machines are characterized by having more capabilities than humans, and they perform tasks that are not repeated in the same environment. For this reason, they are most often controlled by a human in a teleoperation system. This research investigates the influence of the operator’s perception on the energy demand of such manipulators. Specifically, the research focused on assessing how the intuitive control systems, such as primary–secondary solutions, impact the energy consumption. Understanding the relation between the operator’s perception and the energy demand is essential for optimizing manipulator design and operation. Experimental research was conducted to analyze the velocity and acceleration of the manipulator’s effector, which is controlled by human operators under different movement ranges and size ratios. The obtained test results allow for the assessment of the dynamic loads, velocity, and energy consumption of the movement of a manipulator with a large working area due to the limitations resulting from the operator’s perception.

The elastic-damping properties of the rubber track structure can have a significant impact on the running gear performance of lightweight mobile robots. Taking these properties into account is particularly important for modeling obstacle negotiation and estimating the robot’s driving force. The article presents track susceptibility identification using both static and dynamic tests. The experimental results were used to validate the multi-body dynamics model of the rubber track for three modeling methods and for three track link number model variants. The methods and variants were compared by the accuracy of the susceptibility parameters obtained using them. The impact of the modeling methods on the track bending resistance simulations was also checked.