Prof. Ignacy Dulęba, DSc, PhD, Eng
Email: ignacy.duleba@pwr.edu.pl
Unit: Faculty of Electronics, Photonics and Microsystems (N) » Department of Cybernetics and Robotics
ul. Z. Janiszewskiego 11/17, 50-372 Wrocław
building C-3, room 210
phone +48 71 320 4355
Research fields
- Theoretical robotics: modeling, motion planning, control, applications of optimization techniques in robotics.
Recent papers
2017
- Dulęba I., Karcz-Dulęba I., Suboptimal approximations in repeatable inverse kinematics for robot manipulators. Bulletin of the Polish Academy of Sciences. Technical Sciences. 2017, vol. 65, nr 2, s. 209-217.
2016
- Dulęba I., Opałka M., Motion planning of strongly controllable stratified systems. Robotica. 2016, vol. 34, nr 10, s. 2223-2240.
2013
- Dulęba I., Opałka M., A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators. International Journal of Applied Mathematics and Computer Science. 2013, vol. 23, nr 2, s. 373-382.
2012
- Dulęba I., Kheffifi W., Karcz-Dulęba I., Layer, Lie algebraic method of motion planning for nonholonomic systems. Journal of the Franklin Institute. 2012, vol. 349, nr 1, s. 201-215.
- Dulęba I., Discriminant functions for isotropic configurations in robot manipulators. Robotica. 2012, vol. 30, nr 2, s. 221-227.
Papers in DONA database
|
|---|
| 1 | Article 2023
Ignacy Dulęba, Iwona Karcz-Dulęba, | Many faces of singularities in robotics = Różne oblicza osobliwości w robotyce. Pomiary, Automatyka, Robotyka. 2023, R. 27, nr 1, s. 19-26. ISSN: 1427-9126; 2392-1277 | | Resources:DOIURL |   |
|
| 2 | Monograph chapter 2022
| Lie-algebraiczna ocena konfiguracji początkowej nieholonomicznego planowania ruchu = Lie-algebraic selection of an initial configuration in nonholonomic motion planning. W: Postępy robotyki. T. 1 / pod red. Alicji Mazur i Cezarego Zielińskiego. Warszawa : Oficyna Wydawnicza Politechniki Warszawskiej, 2022. s. 169-178. ISBN: 978-83-8156-410-6 | | Resources:SFX | |
|
| 3 | Monograph chapter 2022
Ignacy Dulęba, | Odporna kinematyka odwrotna w konfiguracjach osobliwych = Robust inverse kinematics at singular configurations. W: Postępy robotyki. T. 1 / pod red. Alicji Mazur i Cezarego Zielińskiego. Warszawa : Oficyna Wydawnicza Politechniki Warszawskiej, 2022. s. 5-10. ISBN: 978-83-8156-410-6 | | Resources:SFX | |
|
| 4 | Article 2021
| Development of task-space nonholonomic motion planning algorithm based on lie-algebraic method. Applied Sciences. 2021, vol. 11, nr 21, art. 10245, s. 1-16. ISSN: 2076-3417 | | Resources:DOIURLSFX |   |
|
| 5 | Proceeding paper 2020
| Evaluation of parameterizations in local Lie-algebraic motion planning. W: Advanced, Contemporary Control : proceedings of KKA 2020 : the 20th Polish Control Conference, Łódź, Poland, 2020 / eds. Andrzej Bartoszewicz, Jacek Kabziński, Janusz Kacprzyk. Cham : Springer, cop. 2020. s. 928-940. ISBN: 978-3-030-50935-4; 978-3-030-50936-1 | | Resources:DOIURLSFX | |
|
| 6 | Proceeding paper 2020
Ignacy Dulęba, Iwona Karcz-Dulęba, | Algorithm to express Lie monomials in Ph. Hall basis and its practical applications. W: Computer aided systems theory - EUROCAST 2019 : 17th international conference, Las Palmas de Gran Canaria, Spain, February 17-22, 2019 : revised selected papers. Pt. I / eds. Roberto Moreno-Díaz, Franz Pichler, Alexis Quesada-Arencibia. Cham : Springer, cop. 2020. s. 465–473. ISBN: 978-3-030-45092-2 | | Resources:DOIURLSFX | |
|
| 7 | Article 2020
Ignacy Dulęba, Iwona Karcz-Dulęba, | A symbolic form, null space bases generation for some matrices of robotics. International Journal of Mechanics and Control. 2020, vol. 21, nr 1, s. 3-11. ISSN: 1590-8844 | | Resources:SFX | |
|
| 8 | Proceeding paper 2020
Ignacy Dulęba, Iwona Karcz-Dulęba, | On an analytic generation of null space spanners in robotics. W: Advances in Service and Industrial Robotics : Proceedings of the 28th International Conference on Robotics in Alpe-Adria-DanubeRegion (RAAD 2019) / eds. Karsten Berns, Daniel Görges. Switzerland : Springer, cop. 2020. s. 69-76. ISBN: 978-3-030-19647-9 | | Resources:DOISFX | |
|
| 9 | Meeting abstract 2019
Ignacy Dulęba, Iwona Karcz-Dulęba, | On the Ph. Hall expansion of lie monomials. W: Computer aided systems theory - EUROCAST 2019 : 17th International Conference on Computer Aided Systems Theory : Las Palmas de Gran Canaria, Spain, February 2019 : extended abstracts / ed. by Alexis Quesada-Arencibia [i in.]. [B m.] : IUCTC Universidad de Las Palmas de Gran Canaria, cop. 2019. s. 128-129. ISBN: 978-84-09-09208-6 | | Resources:URL | |
|
| 10 | Article 2019
| Small time local controllability of driftless nonholonomic systems in a task-space. Archives of Control Sciences. 2019, vol. 29, nr 3, s. 423-436. ISSN: 2300-2611; 1230-2384 | | Resources:DOISFX | |
|
