Szukana fraza: [Abstract = "A method of planning sub\-optimal trajectory for a mobile manipulator working in the environment including obstacles is presented. The path of the end\-effector is defined as a curve that can be parameterized by any scaling parameter, the reference trajectory of a mobile platform is not needed. Constraints connected with the existence of mechanical limits for a given manipulator configuration, collision avoidance conditions and control constraints are considered."]

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