Projects funded by the NCN

Information on the principal investigator and host institution

Information of the project and the call

Keywords

Equipment

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Advancement of Jacobian robot motion planning algorithms

2013/09/B/ST7/02368

Keywords:

manipulation robot mobile robot kinematics dynamics motion planning control mathematical methods

Descriptors:

  • ST7_10: Hardware implementation of algorithms
  • ST1_17: Applied mathematics
  • ST7_1: Control engineering in automation and robotics

Panel:

ST7 - Systems and communication engineering: electronics, communication, optoelectronics

Host institution :

Politechnika Wrocławska, Wydział Elektroniki

woj. dolnośląskie

Other projects carried out by the institution 

Principal investigator (from the host institution):

prof. Krzysztof Tchoń 

Number of co-investigators in the project: 6

Call: OPUS 5 - announced on 2013-03-15

Amount awarded: 369 000 PLN

Project start date (Y-m-d): 2014-03-12

Project end date (Y-m-d): 2016-08-11

Project duration:: 29 months (the same as in the proposal)

Project status: Project settled

Equipment purchased [PL]

  1. system komputerowy: jednostka centralna, monitor, drukarka laserowa, klawiatura, dysk zewnętrzny, mysz (3 690 PLN)
  2. notebook (12 000 PLN)

Information in the final report

  • Publication in academic press/journals (9)
  • Articles in post-conference publications (6)
  • Book publications / chapters in book publications (1)
  1. Lagrangian Jacobian inverse for nonholonomic robotic systems
    Authors:
    K. Tchoń, A. Ratajczak, I. Góral
    Academic press:
    Nonlinear Dynamics (rok: 2015, tom: 82, strony: 1923–1932), Wydawca: Springer
    Status:
    Published
    DOI:
    10.1007/s11071-015-2288-6 - link to the publication
  2. Control and motion planning of a non-holonomic parallel orienting platform
    Authors:
    J. Jakubiak, W. Magiera, K. Tchoń
    Academic press:
    ASME J. Mechanisms and Robotics (rok: 2015, tom: 7(4), strony: 041019-041019-11), Wydawca: ASME
    Status:
    Published
    DOI:
    10.1115/1.4029891 - link to the publication
  3. Dynamically consistent Jacobian inverse for mobile manipulators
    Authors:
    J. Ratajczak, K. Tchoń
    Academic press:
    Int. Journal of Control (rok: 2015, tom: 1, strony: 45301), Wydawca: Taylor & Francis
    Status:
    Published
    DOI:
    10.1080/00207179.2015.1124144 - link to the publication
  4. General Lagrangie-Type Jacobian Inverse for Non-holonomic Robotic Systems
    Authors:
    K. Tchoń, J. Ratajczak
    Academic press:
    IEEE Trans.Robotics (rok: 2018, tom: 34, strony: 256-263), Wydawca: IEEE
    Status:
    Published
    DOI:
    10.1109/TRO.2017.2754520 - link to the publication
  5. Trajectory Reproduction and Trajectory Tracking Problem for the Nonholonomic Systems
    Authors:
    A. Ratajczak
    Academic press:
    Bull. Polish Academy of Sci. (rok: 2016, tom: 64, strony: 63-70), Wydawca: PAN
    Status:
    Published
    DOI:
    DOI:1015151/bpasts-2016-0008 - link to the publication
  6. Dynamically consistent Jacobian inverse for non-holonomic robotic systems
    Authors:
    K. Tchoń, J. Ratajczak
    Academic press:
    Nonlinear Dynamics (rok: 2016, tom: 85, strony: 107-122), Wydawca: Springer
    Status:
    Published
    DOI:
    10.1007/s11071-016-2672-x - link to the publication
  7. Egalitarian vs. prioritarian approach in multiple task motion planning for nonholonomic systems
    Authors:
    A. Ratajczak
    Academic press:
    Nonlinear Dynamics (rok: 2017, tom: 88, strony: 1733-1747), Wydawca: Springer
    Status:
    Published
    DOI:
    10.1007/s11071-017-3342-3 - link to the publication
  8. Lagrangian Jacobian motion planning: A parametric approach
    Authors:
    I. Góral, K. Tchoń
    Academic press:
    J, Intelligent and Robotic Systems (rok: 2017, tom: 85, strony: 511-522), Wydawca: Springer
    Status:
    Published
    DOI:
    10.1007/s10846-016-0394-4 - link to the publication
  9. Dynamic non-holonomic motion planning by means of dynamically consistent Jacobian inverse
    Authors:
    J. Ratajczak, K. Tchoń
    Academic press:
    IMA Journal of Mathematical Control and Information (rok: 2016, tom: bd, strony: bd), Wydawca: Oxford University Press
    Status:
    Published
    DOI:
    10.1093/imamci/dnw058 - link to the publication
  1. Lagrangian Jacobian motion planning
    Authors:
    K. Tchoń, I. Góral
    Conference:
    IMA Conference on Mathematics of Robotics (rok: 2015, ), Wydawca: The Institute of Mathematics and its Applications
    Data:
    konferencja 9-11 września
    Status:
    Published
  2. Lifted Newton motion planning algorithm
    Authors:
    M. Janiak
    Conference:
    10th International Workshop on Robot Motion and Control (rok: 2015, ), Wydawca: IEEE
    Data:
    konferencja 6-8 lipca
    Status:
    Published
  3. Kinematic Singularities of Mobile Manipulators: An Analytic Approach
    Authors:
    K. Tchoń, H. Sienkiewicz
    Conference:
    Advances in Robot Kinematics (ARK 2016) (rok: 2016, ), Wydawca: INRIA, Sophia Antipolis
    Data:
    konferencja 26-30 czerwca
    Status:
    Published
  4. Non-holonomic motion planning using dynamically consistent Jacobian inverse
    Authors:
    J. Ratajczak, K. Tchoń
    Conference:
    IMA Conference on Mathematics of Robotics (rok: 2015, ), Wydawca: The Institute of Mathematics and its Applications
    Data:
    konferencja 9-11 września
    Status:
    Published
  5. Zadanie reprodukcji trajektorii wyjścia w układach nieholonomicznych
    Authors:
    A. Ratajczak
    Conference:
    13 Krajowa Konferencja Robotyki (rok: 2014, ), Wydawca: Politechnika Warszawska
    Data:
    konferencja 2-6 lipca
    Status:
    Published
  6. Jacobian motion planning of nonholonomic robots: The Lagrangian Jacobian algorithm
    Authors:
    K. Tchoń, I. Góral, A. Ratajczak
    Conference:
    10th International Workshop on Robot Motion and Control (rok: 2015, ), Wydawca: IEEE
    Data:
    konferencja 6-8 lipca
    Status:
    Published
  1. Motion Planning of Non-holonomic Parallel Orienting Platfrom: A Jacobian Approach
    Authors:
    K. Tchoń, J. Jakubiak
    Book:
    Advances in Robot Kinematics (rok: 2014, tom: I, strony: 95-103), Wydawca: Springer
    Status:
    Published

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