Marcin Pękal

Marcin Pękal is an Adjunct Assistant Professor at the Warsaw University of Technology’s Faculty of Power and Aeronautical Engineering, where he is affiliated with the Department of Theory of Machines and Robots. His research focuses on robotics and multibody systems, with an emphasis on reaction uniqueness analysis, constraint-based methods, and dynamics modeling. He holds a Ph.D. in engineering and is involved in teaching courses such as Robotics Basics, Dynamics of Multibody Systems II, and Dynamic Metrology.

His work explores advanced methodologies for analyzing overconstrained and overactuated systems, including divide-and-conquer approaches and constraint-matrix-based techniques. Key areas of investigation include the application of the Moore-Penrose inverse in modeling mechanisms and the study of kinetostatic principles in robotics. His research outputs span journals like Multibody System Dynamics and Mechanism and Machine Theory, reflecting a strong focus on theoretical and applied mechanics.

Pękal’s articles highlight contributions to multibody dynamics, particularly in handling nonholonomic constraints and redundancy in robotic systems. He is actively engaged in academic activities, including presentations at IEEE conferences and contributions to edited volumes on vibration and control systems. His teaching responsibilities align closely with his research interests, emphasizing practical applications of robotics and automation.