Advancement of Jacobian robot motion planning algorithms
2013/09/B/ST7/02368
Keywords
Descriptors
- ST7_10: Robotyka
- ST1_17: Teoria sterowania i optymalizacja
- ST7_1: Inżynieria sterowania
Panel
ST7 – Systems and communication engineering: electronics, communication, optoelectronics
Host institution
Politechnika Wrocławska, Wydział Elektroniki
Voivodeship: dolnośląskie
Principal investigator (from the host institution)
Number of co-investigators in the project: 6
Call
OPUS 5 – announced on 2013-03-15
- Amount awarded
- 369 000 PLN
- Project start date
- 2014-03-12
- Project end date
- 2016-08-11
- Project duration
- 29 months (the same as in the proposal)
- Project status
- Project settled
Equipment purchased [PL]
- notebook. Cost: 12 000 PLN
- system komputerowy: jednostka centralna, monitor, drukarka laserowa, klawiatura, dysk zewnętrzny, mysz. Cost: 3 690 PLN
Information in the final report
Publication in academic press/journals (9)
-
General Lagrangie-Type Jacobian Inverse for Non-holonomic Robotic Systems
- Authors:
- K. Tchoń, J. Ratajczak
- Academic press:
- IEEE Trans.Robotics (year: 2018, volume: 34, pages: 256-263), Publisher: IEEE
- Status:
- Published
- DOI:
- 10.1109/TRO.2017.2754520 – link to the publication
-
Dynamically consistent Jacobian inverse for non-holonomic robotic systems
- Authors:
- K. Tchoń, J. Ratajczak
- Academic press:
- Nonlinear Dynamics (year: 2016, volume: 85, pages: 107-122), Publisher: Springer
- Status:
- Published
- DOI:
- 10.1007/s11071-016-2672-x – link to the publication
-
Lagrangian Jacobian motion planning: A parametric approach
- Authors:
- I. Góral, K. Tchoń
- Academic press:
- J, Intelligent and Robotic Systems (year: 2017, volume: 85, pages: 511-522), Publisher: Springer
- Status:
- Published
- DOI:
- 10.1007/s10846-016-0394-4 – link to the publication
-
Egalitarian vs. prioritarian approach in multiple task motion planning for nonholonomic systems
- Authors:
- A. Ratajczak
- Academic press:
- Nonlinear Dynamics (year: 2017, volume: 88, pages: 1733-1747), Publisher: Springer
- Status:
- Published
- DOI:
- 10.1007/s11071-017-3342-3 – link to the publication
-
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 (year: 2016, volume: bd, pages: bd), Publisher: Oxford University Press
- Status:
- Published
- DOI:
- 10.1093/imamci/dnw058 – link to the publication
-
Lagrangian Jacobian inverse for nonholonomic robotic systems
- Authors:
- K. Tchoń, A. Ratajczak, I. Góral
- Academic press:
- Nonlinear Dynamics (year: 2015, volume: 82, pages: 1923–1932), Publisher: Springer
- Status:
- Published
- DOI:
- 10.1007/s11071-015-2288-6 – link to the publication
-
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 (year: 2015, volume: 7(4), pages: 041019-041019-11), Publisher: ASME
- Status:
- Published
- DOI:
- 10.1115/1.4029891 – link to the publication
-
Trajectory Reproduction and Trajectory Tracking Problem for the Nonholonomic Systems
- Authors:
- A. Ratajczak
- Academic press:
- Bull. Polish Academy of Sci. (year: 2016, volume: 64, pages: 63-70), Publisher: PAN
- Status:
- Published
-
Dynamically consistent Jacobian inverse for mobile manipulators
- Authors:
- J. Ratajczak, K. Tchoń
- Academic press:
- Int. Journal of Control (year: 2015, volume: 1, pages: 46032), Publisher: Taylor & Francis
- Status:
- Published
- DOI:
- 10.1080/00207179.2015.1124144 – link to the publication
Articles in post-conference publications (6)
-
Lagrangian Jacobian motion planning
- Authors:
- K. Tchoń, I. Góral
- Conference:
- IMA Conference on Mathematics of Robotics (year: 2015, pages: bd.), Publisher: The Institute of Mathematics and its Applications
- Date:
- conference 9-11 września
- Status:
- Published
-
Zadanie reprodukcji trajektorii wyjścia w układach nieholonomicznych
- Authors:
- A. Ratajczak
- Conference:
- 13 Krajowa Konferencja Robotyki (year: 2014, pages: Postępy Robotyki, t. II, ss. 671-680), Publisher: Politechnika Warszawska
- Date:
- conference 2-6 lipca
- Status:
- Published
-
Non-holonomic motion planning using dynamically consistent Jacobian inverse
- Authors:
- J. Ratajczak, K. Tchoń
- Conference:
- IMA Conference on Mathematics of Robotics (year: 2015, pages: bd.), Publisher: The Institute of Mathematics and its Applications
- Date:
- conference 9-11 września
- Status:
- Published
-
Lifted Newton motion planning algorithm
- Authors:
- M. Janiak
- Conference:
- 10th International Workshop on Robot Motion and Control (year: 2015, pages: 223-228), Publisher: IEEE
- Date:
- conference 6-8 lipca
- Status:
- Published
-
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 (year: 2015, pages: 229-234), Publisher: IEEE
- Date:
- conference 6-8 lipca
- Status:
- Published
-
Kinematic Singularities of Mobile Manipulators: An Analytic Approach
- Authors:
- K. Tchoń, H. Sienkiewicz
- Conference:
- Advances in Robot Kinematics (ARK 2016) (year: 2016, pages: 408-418), Publisher: INRIA, Sophia Antipolis
- Date:
- conference 26-30 czerwca
- Status:
- Published
Book publications / chapters in book publications (1)
-
Motion Planning of Non-holonomic Parallel Orienting Platfrom: A Jacobian Approach
- Authors:
- K. Tchoń, J. Jakubiak
- Book:
- Advances in Robot Kinematics (year: 2014, volume: I, pages: 95-103), Publisher: Springer
- Status:
- Published