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<dc:title xml:lang="pl"><![CDATA[Planning of collision-free trajectory for mobile manipulators]]></dc:title>
<dc:creator><![CDATA[Pająk, Grzegorz]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[mobile manipulator]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[path following]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[trajectory planning]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[penalty function]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[control constraints]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[A method of planning sub-optimal trajectory for a mobile manipulator working in the environment including obstacles is presented. The path of the end-effector is defined as a curve that can be parameterized by any scaling parameter, the reference trajectory of a mobile platform is not needed. Constraints connected with the existence of mechanical limits for a given manipulator configuration, collision avoidance conditions and control constraints are considered.]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[The motion of the mobile manipulator is planned in order to maximize the manipulability measure, thus to avoid manipulator singularities. The method is based on a penalty function approach and a redundancy resolution at the acceleration level. A computer example involving a mobile manipulator consisting of a nonholonomic platform and a SCARA type holonomic manipulator operating in a two-dimensional task space is also presented.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Jurczak, Paweł - red.]]></dc:contributor>
<dc:date><![CDATA[2013]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:format xml:lang="pl"><![CDATA[application/pdf]]></dc:format>
<dc:identifier><![CDATA[http://www.zbc.uz.zgora.pl/repozytorium/Content/74401/10.2478_ijame-2013-0028.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/repozytorium/dlibra/publication/81427/edition/74401/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:74401]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[IJAME, volume 18, number 2 (2013)]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:81427]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
<dc:rights xml:lang="pl"><![CDATA[CC 4.0]]></dc:rights>
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