TY - GEN A1 - Kacprzak, C. A1 - Pająk, Grzegorz A2 - Jurczak, Paweł - red. PB - Zielona Góra: Uniwersytet Zielonogórski N2 - 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. N2 - 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. L1 - http://zbc.uz.zgora.pl/Content/71119/10.2478_ijame-2019-0037.pdf L2 - http://zbc.uz.zgora.pl/Content/71119 KW - humanoid manipulator KW - redundancy resolution KW - collision avoidance KW - manipulability measure T1 - Trajectory planning of the humanoid manipulator UR - http://zbc.uz.zgora.pl/dlibra/docmetadata?id=71119 ER -