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More and more commonly, manipulators and robots equipped with effectors are used to replace humans in the implementation of tasks that require significant working abilities or are used in dangerous zones. These constructions have considerable ranges and are capable of carrying heavy loads. The specificity of the tasks performed with the use of mentioned devices requires their control by a human. Intuitive tracking systems are used to control them. Problems in their use result from the kinematic amplification between the effector and the operator’s hand. Proper design of the drive and control systems for these manipulators requires knowledge of the maximum velocities of the manipulator’s effectors, which significantly depend on the scale ratio. The article presents the results of the effector’s velocity movements while performing a specific task by the operator’s hand with different velocities and scale ratios.

The effective use of robotic manipulators is particularly important when carrying out hazardous tasks. Often, for this type of mission, manipulators equipped with a hydraulic drive system are used, and their work results primarily from the implementation of precise movements through their effectors. In heavy manipulators, limiting the uncontrolled movement resulting from high inertia and relatively low stiffness has an impact on the improvement of the control precision. Therefore, the paper presents experimental studies that allow the assessment of the impact of the use of counterbalance valves on the precision and dynamics of a manipulator with a hydrostatic drive system. The tests were carried out for a wide range of effector velocities along a horizontal trajectory, on the basis of which, it was found that it was possible to improve the precision and dynamics of the work of such manipulators due to the precision of the trajectory and pressures in the drive system.

One of the technologies used for localization is GNSS (Global Navigation Satellite Systems), which is exposed to many phenomena, i.e., the occurrence of terrain covers, reflections of the radio waves, and the multipath nature of the radio waves in the propagation environment. To increase the resistance to environmental phenomena, special types of antennas are used, which include, among others, choke ring antennas. The article describes the design and construction of the choke ring antenna and the impact of the mentioned device on the quality of GNSS positioning. The accuracy of the constructed antenna (based on selected accuracy measures: DRMS, 2DRMS, SEP, MRSE, SAE) is calculated together with positioning errors determined for two types of antennas: choke ring antenna and the dedicated antenna supplied by the manufacturer in RTK mode. The results confirm that the designed choke ring antenna can be used for positioning without significantly losing accuracy in the RTK mode.

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