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The path of the end-effector is defined as a curve that can be parameterised by any scaling parameter\u2014the 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. Nonholonomic constraints in a Pfaffian form are explicitly incorporated to the control algorithm. To avoid manipulator singularities, the motion of the robot is planned in order to maximise the manipulability measure.<\/jats:p>","DOI":"10.1017\/s0263574714000198","type":"journal-article","created":{"date-parts":[[2014,4,1]],"date-time":"2014-04-01T12:41:11Z","timestamp":1396356071000},"page":"1181-1200","source":"Crossref","is-referenced-by-count":9,"title":["Sub-optimal trajectory planning for mobile manipulators"],"prefix":"10.1017","volume":"33","author":[{"given":"Grzegorz","family":"Pajak","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Iwona","family":"Pajak","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2014,4,1]]},"reference":[{"key":"S0263574714000198_ref4","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700201"},{"key":"S0263574714000198_ref3","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906068374"},{"key":"S0263574714000198_ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2012.04.001"},{"key":"S0263574714000198_ref25","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"key":"S0263574714000198_ref19","volume-title":"Model-Based Control of a Robot Manipulator","author":"An","year":"1988"},{"key":"S0263574714000198_ref18","first-page":"279","volume-title":"6th International Workshop on Robot Motion and Control","author":"Mazur","year":"2007"},{"key":"S0263574714000198_ref7","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-004-7196-9"},{"key":"S0263574714000198_ref17","first-page":"539","volume-title":"Proceedings of the International Symposium on Robotics and Manufacturing","author":"Liu","year":"1992"},{"key":"S0263574714000198_ref15","first-page":"3479","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Egerstedt","year":"2000"},{"key":"S0263574714000198_ref11","first-page":"1271","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Mohri","year":"2001"},{"key":"S0263574714000198_ref12","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709005578"},{"key":"S0263574714000198_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2010.11.003"},{"key":"S0263574714000198_ref1","first-page":"981","volume-title":"Proceedings of the 6th International Conference on Intelligent Autonomous Systems (IAS-6)","author":"Bayle","year":"2000"},{"key":"S0263574714000198_ref2","doi-asserted-by":"publisher","DOI":"10.1177\/02783649030227007"},{"key":"S0263574714000198_ref6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364903022012004"},{"key":"S0263574714000198_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/70.538986"},{"key":"S0263574714000198_ref26","volume-title":"Nonlinear Programming: Sequential Unconstrained Minimization Techniques","author":"Fiacco","year":"1968"},{"key":"S0263574714000198_ref27","volume-title":"Theory and Methods of Optimization","author":"Findeisen","year":"1977"},{"key":"S0263574714000198_ref28","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700303"},{"key":"S0263574714000198_ref29","first-page":"605","volume-title":"Proceedings of the Methods and Models in Automation and Robotics","author":"Pajak","year":"2000"},{"key":"S0263574714000198_ref30","first-page":"251","article-title":"Sub-optimal trajectory planning of the redundant manipulators","volume":"14","author":"Pajak","year":"2009","journal-title":"Int. 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