@ARTICLE{Pajak_Grzegorz_Collision-free_2014,
 author={Pajak, Grzegorz and Pajak, Iwona},
 volume={vol. 61},
 number={No 1},
 journal={Archive of Mechanical Engineering},
 pages={35-55},
 howpublished={online},
 year={2014},
 publisher={Polish Academy of Sciences, Committee on Machine Building},
 abstract={A method of planning collision-free trajectory for a mobile manipulator tracking a line section path is presented. The reference trajectory of a mobile platform is not needed, mechanical and control constraints are taken into account. The method is based on a penalty function approach and a redundancy resolution at the acceleration level. Nonholonomic constraints in a Pfaffian form are explicitly incorporated to the control algorithm. The problem is shown to be equivalent to some point-to-point control problem whose solution may be easier determined. The motion of the mobile manipulator is planned in order to maximise the manipulability measure, thus to avoid manipulator singularities. A computer example involving a mobile manipulator consisting of a nonholonomic platform (2,0) class and a 3 DOF RPR type holonomic manipulator operating in a three-dimensional task space is also presented.},
 type={Artykuły / Articles},
 title={Collision-free trajectory planning for mobile manipulators subject to control constraints},
 URL={http://journals.pan.pl/Content/84823/PDF/02_paper.pdf},
 doi={10.2478/meceng-2014-0002},
 keywords={mobile manipulator, path following, trajectory planning, penalty function, control constraints},
}