Kinematic structure of the DOBOT manipulator is presented in this chapter. Joint coordinates and end-effector coordinates of the manipulator are functions of independent coordinates, i.e., joint parameters. This chapter explained forward kinematics task and issue of inverse kinematics task on the structure of the DOBOT manipulator. Linearization of forward kinematic equations is made with usage of Taylor Series for multiple variables. The inversion of Jacobian matrix was used for numerical solution of the inverse kinematics task. The chapter contains analytical equations, which are solution of inverse kinematics task. It should be noted that the analytical solution exists only for simple kinematic structures, for example DOBOT manipulator structure. Subsequently, simulation of the inverse kinematics of the above-mentioned kinematic structure was performed in the Matlab Simulink environment using the SimMechanics toolbox.

This paper deals with device for online, real time analysis of recuperative current with use of microprocessor. This system is used in railway transport for measurement and analysis of recuperative-currents from converter in railway engine. Recuperative currents from converters in railway engines, flows through rail back to the distribution point. Content of higher harmonics in these currents must not exceed limits specified in international standard UIC 550-3, so exact measurement and analysis of this harmonics is necessary. Proposed device uses microprocessor for real time measurement and analysis of recuperative currents.

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