Iwona Pajak

TL;DR: The collision-free trajectory planning method subject to control constraints for mobile manipulators is presented and guarantees satisfying control limitations resulting from capabilities of robot actuators by applying the trajectory scaling approach.

TL;DR: In this article, a method of planning sub-optimal collision-free motion for redundant manipulators is presented based on using a penalty function approach and scaling the robot dynamic equation to satisfy actuator constraints.

TL;DR: A method of planning a sub-optimal trajectory for a mobile manipulator subject to mechanical and control constraints is presented and the motion of the robot is planned in order to maximise the manipulability measure.

TL;DR: A method of motion planning for a mobile manipulator acting as a helper providing the necessary tools or a surgery assistant carrying out pre-planned procedures, based on a penalty function approach and a redundancy resolution at the acceleration level is presented.

TL;DR: A method of planning sub-optimal trajectory for a mobile manipulator working in the environment including obstacles is presented and nonholonomic constraints in a Pfaffian form are explicitly incorporated into the control algorithm.