@misc{Kacprzak_C._Trajectory,
 author={Kacprzak, C. and Pająk, Grzegorz},
 howpublished={online},
 publisher={Zielona Góra: Uniwersytet Zielonogórski},
 language={eng},
 abstract={The paper presents a method of planning a collision-free trajectory for a humanoid manipulator mounted on a rail system. The task of the robot is to move its end-effectors from the current position to the given final location in the workspace. The method is based on a redundancy resolution at the velocity level. In addition to this primary task, secondary objectives are also taken into account.},
 abstract={The motion of the robot is planned in order to maximize a manipulability measure in purpose of avoiding manipulator singularities. State inequality constraints resulting from collision avoidance conditions are also considered. A computer example involving a humanoid manipulator operating in a three dimensional task space is also presented.},
 type={artykuł},
 title={Trajectory planning of the humanoid manipulator},
 keywords={humanoid manipulator, redundancy resolution, collision avoidance, manipulability measure},
}