Krzysztof Tchon

Publication Activity (10 Years)

Years Active: 1983-2022
Publications (10 Years): 16

Top Topics

Jacobian Matrix

Prime Implicates

Robotic Systems

Top Venues

J. Intell. Robotic Syst.

IEEE Trans. Robotics

Publications

Joanna Ratajczak, Krzysztof Tchon
Coordinate-Free Jacobian Motion Planning: A 3-D Space Robot. IEEE Trans. Syst. Man Cybern. Syst. 52 (8) (2022)
Krzysztof Tchon, Joanna Ratajczak
Singularities of holonomic and non-holonomic robotic systems: A normal form approach. J. Frankl. Inst. 358 (15) (2021)
Roberto Orozco, Krzysztof Tchon
Linear Registration and Robot Motion Planning. IMAMR (2020)
Joanna Ratajczak, Krzysztof Tchon
Normal forms and singularities of non-holonomic robotic systems: A study of free-floating space robots. Syst. Control. Lett. 138 (2020)
Krzysztof Tchon
Normal Forms of a Free-Floating Space Robot. KKA (2020)
Krzysztof Tchon, Witold Respondek, Joanna Ratajczak
Normal Forms and Configuration Singularities of a Space Manipulator. J. Intell. Robotic Syst. 93 (3-4) (2019)
Joanna Ratajczak, Krzysztof Tchon
Lagrangian Jacobian motion planning with application to a free-floating space manipulator. RoMoCo (2019)
Cezary Zielinski, Krzysztof Tchon
Preface to Special Issue on Robot Perception and Control. J. Autom. Mob. Robotics Intell. Syst. 13 (2) (2019)
Krzysztof Tchon, Joanna Ratajczak, Janusz Jakubiak
Normal Forms of Robotic Systems with Affine Pfaffian Constraints: A Case Study. ARK (2018)
Krzysztof Tchon, Joanna Ratajczak
General Lagrange-Type Jacobian Inverse for Nonholonomic Robotic Systems. IEEE Trans. Robotics 34 (1) (2018)
Joanna Ratajczak, Krzysztof Tchon
Dynamic non-holonomic motion planning by means of dynamically consistent Jacobian inverse. IMA J. Math. Control. Inf. 35 (2) (2018)
Ida Góral, Krzysztof Tchon
Lagrangian Jacobian Motion Planning: A Parametric Approach. J. Intell. Robotic Syst. 85 (3-4) (2017)
Krzysztof Tchon, Joanna Ratajczak
Kinematic and dynamic singularities of non-holonomic robotic systems. RoMoCo (2017)
Krzysztof Tchon, Joanna Ratajczak
General Lagrangian Jacobian motion planning algorithm for affine robotic systems with application to a space manipulator. MMAR (2017)
Joanna Ratajczak, Krzysztof Tchon
Dynamically consistent Jacobian inverse for mobile manipulators. Int. J. Control 89 (6) (2016)
Krzysztof Tchon
Dynamic Singularities of Non-holonomic Robotic Systems: An Analytic Approach. ARK (2016)
Katarzyna Zadarnowska, Krzysztof Tchon
Modeling and motion planning of wheeled mobile robots subject to slipping. RoMoCo (2015)
Mariusz Janiak, Krzysztof Tchon
Motion planning through waypoints for a skid-steering mobile platform. RoMoCo (2015)
Krzysztof Tchon, Ida Góral, Adam Ratajczak
Jacobian motion planning of nonholonomic robots: The Lagrangian Jacobian algorithm. RoMoCo (2015)
Adam Ratajczak, Krzysztof Tchon
Parametric and Non-parametric Jacobian Motion Planning for Non-holonomic Robotic Systems. J. Intell. Robotic Syst. 77 (3-4) (2015)
Jan Kedzierski, Pawel Kaczmarek, Michal Dziergwa, Krzysztof Tchon
Design for a Robotic Companion. Int. J. Humanoid Robotics 12 (1) (2015)
Zuzanna Pietrowska, Krzysztof Tchon
Dynamics and Motion Planning of Trident Snake Robot. J. Intell. Robotic Syst. 75 (1) (2014)
Krzysztof Tchon
Toward Design of a Robotic Companion. ICINCO (1) (2013)
Janusz Jakubiak, Krzysztof Tchon, Mariusz Janiak
Motion Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm. ARK (2012)
Krzysztof Tchon, Janusz Jakubiak, Patrick Grosch, Federico Thomas
Motion Planning for Parallel Robots with Non-holonomic Joints. ARK (2012)
Joanna Karpinska, Krzysztof Tchon, Mariusz Janiak
Approximation of Jacobian Inverse Kinematics Algorithms: Differential Geometric vs. Variational Approach. J. Intell. Robotic Syst. 68 (3-4) (2012)
Krzysztof Tchon, Janusz Jakubiak
Motion Planning of the Double-Link Trident Snake Robot. SyRoCo (2012)
Joanna Karpinska, Krzysztof Tchon
Continuation method approach to trajectory planning in robotic systems. MMAR (2011)
Adam Ratajczak, Krzysztof Tchon
Motion planning of a balancing robot with threefold sub-tasks: An endogenous configuration space approach. ICRA (2011)
Mariusz Janiak, Krzysztof Tchon
Constrained motion planning of nonholonomic systems. Syst. Control. Lett. 60 (8) (2011)
Mariusz Janiak, Krzysztof Tchon
Towards constrained motion planning of mobile manipulators. ICRA (2010)
Adam Ratajczak, Joanna Karpinska, Krzysztof Tchon
Task-priority motion planning of underactuated systems: an endogenous configuration space approach. Robotica 28 (6) (2010)
Adam Ratajczak, Joanna Karpinska, Krzysztof Tchon
Task-priority motion planning of underactuated systems: an endogenous configuration space approach - ERRATUM. Robotica 28 (6) (2010)
Krzysztof Tchon
Iterative learning control and the singularity robust Jacobian inverse for mobile manipulators. Int. J. Control 83 (11) (2010)
Janusz Jakubiak, Krzysztof Tchon, Wladyslaw Magiera
Motion planning in velocity affine mechanical systems. Int. J. Control 83 (9) (2010)
Krzysztof Tchon, Joanna Karpinska, Mariusz Janiak
Approximation of Jacobian inverse kinematics algorithms. Int. J. Appl. Math. Comput. Sci. 19 (4) (2009)
Krzysztof Tchon, Lukasz Malek
On Dynamic Properties of Singularity Robust Jacobian Inverse Kinematics. IEEE Trans. Autom. Control. 54 (6) (2009)
Krzysztof Tchon, Mariusz Janiak
Repeatable approximation of the Jacobian pseudo-inverse. Syst. Control. Lett. 58 (12) (2009)
Krzysztof Tchon
Optimal Extended Jacobian Inverse Kinematics Algorithms for Robotic Manipulators. IEEE Trans. Robotics 24 (6) (2008)
Katarzyna Zadarnowska, Krzysztof Tchon
A control theory framework for performance evaluation of mobile manipulators. Robotica 25 (6) (2007)
Katarzyna Zadarnowska, Krzysztof Tchon
Kinematic Motion Patterns of Mobile Manipulators. RoMoCo (2007)
Krzysztof Tchon
Repeatable, extended Jacobian inverse kinematics algorithm for mobile manipulators. Syst. Control. Lett. 55 (2) (2006)
Krzysztof Tchon, Janusz Jakubiak
Jacobian inverse kinematics algorithms with variable steplength for mobile manipulators. ARK (2006)
Krzysztof Tchon, Janusz Jakubiak
A repeatable inverse kinematics algorithm with linear invariant subspaces for mobile manipulators. IEEE Trans. Syst. Man Cybern. Part B 35 (5) (2005)
Krzysztof Tchon, Janusz Jakubiak
An Extended Jacobian Inverse Kinematics Algorithm for Doubly Nonholonomic Mobile Manipulators. ICRA (2005)
Krzysztof Tchon, Janusz Jakubiak, Katarzyna Zadarnowska
Doubly Nonholonomic Mobile Manipulators. ICRA (2004)
Krzysztof Tchon, Katarzyna Zadarnowska
Kinematic dexterity of mobile manipulators: an endogenous configuration space approach. Robotica 21 (5) (2003)
Krzysztof Tchon, Janusz Jakubiak
Extended Jacobian inverse kinematics algorithms for mobile manipulators. J. Field Robotics 19 (9) (2002)
Krzysztof Tchon
Repeatability of inverse kinematics algorithms for mobile manipulators. IEEE Trans. Autom. Control. 47 (8) (2002)
Janusz Jakubiak, Krzysztof Tchon
The Continuous Inverse Kinematic problem for Mobile Manipulators: A Case study in the Dynamic Extension. ICRA (2001)
Erjen Lefeber, Janusz Jakubiak, Krzysztof Tchon, Henk Nijmeijer
Observer Based Kinematic Tracking Controllers for a Unicycle-type Mobile Robot. ICRA (2001)
Krzysztof Tchon, Robert Muszynski
Instantaneous Kinematics and Dexterity of Mobile Manipulators. ICRA (2000)
Krzysztof Tchon
Quadratic normal forms of redundant robot kinematics with application to singularity avoidance. IEEE Trans. Robotics Autom. 14 (5) (1998)
Krzysztof Tchon, Robert Muszynski
A Normal form Solution to the Singular Inverse Kinematic Problem for Robotic Manipulators: The Quadratic Case. ICRA (1998)
Krzysztof Tchon, Robert Muszynski
Singular inverse kinematic problem for robotic manipulators: a normal form approach. IEEE Trans. Robotics Autom. 14 (1) (1998)
Krzysztof Tchon, Robert Muszynski
Singularities of Nonredundant Robot Kinematics. Int. J. Robotics Res. 16 (1) (1997)
Robert Muszynski, Krzysztof Tchon
Normal forms of non-redundant singular robot kinematics: Three DOF worked examples. J. Field Robotics 13 (12) (1996)
Krzysztof Tchon
A normal form of singular kinematics of robot manipulators with smallest degeneracy. IEEE Trans. Robotics Autom. 11 (3) (1995)
Krzysztof Tchon, Aleksander Matuszok
On avoiding singularities in redundant robot kinematics. Robotica 13 (6) (1995)
Krzysztof Tchon, Ignacy Duleba
Definition of a kinematic metric for robot manipulators. J. Field Robotics 11 (3) (1994)
Krzysztof Tchon, Ignacy Duleba
On inverting singular kinematics and geodesic trajectory generation for robot manipulators. J. Intell. Robotic Syst. 8 (3) (1993)
Krzysztof Tchon
Calibration of manipulator kinematics: a singularity theory approach. IEEE Trans. Robotics Autom. 8 (5) (1992)
Krzysztof Tchon
Differential Topology of the Inverse Kinematic Problem for Redundant Robot Manipulators. Int. J. Robotics Res. 10 (5) (1991)
Krzysztof Tchon
On generic properties of linear systems: An overview. Kybernetika 19 (6) (1983)