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ORCIDKrzysztof Tchon
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2020 – today
- 2022
[j39]Joanna Ratajczak
, Krzysztof Tchon:
Coordinate-Free Jacobian Motion Planning: A 3-D Space Robot. IEEE Trans. Syst. Man Cybern. Syst. 52(8): 5354-5361 (2022)- 2021
- [j38]Krzysztof Tchon, Joanna Ratajczak:
Singularities of holonomic and non-holonomic robotic systems: A normal form approach. J. Frankl. Inst. 358(15): 7698-7713 (2021) - 2020
- [j37]Joanna Ratajczak, Krzysztof Tchon:
Normal forms and singularities of non-holonomic robotic systems: A study of free-floating space robots. Syst. Control. Lett. 138: 104661 (2020) - [c25]Roberto Orozco, Krzysztof Tchon:
Linear Registration and Robot Motion Planning. IMAMR 2020: 78-88 - [c24]Krzysztof Tchon:
Normal Forms of a Free-Floating Space Robot. KKA 2020: 601-610
2010 – 2019
- 2019
- [j36]Cezary Zielinski, Krzysztof Tchon:
Preface to Special Issue on Robot Perception and Control. J. Autom. Mob. Robotics Intell. Syst. 13(2): 3-4 (2019) - [j35]Krzysztof Tchon, Witold Respondek, Joanna Ratajczak:
Normal Forms and Configuration Singularities of a Space Manipulator. J. Intell. Robotic Syst. 93(3-4): 621-634 (2019) - [c23]Joanna Ratajczak, Krzysztof Tchon:
Lagrangian Jacobian motion planning with application to a free-floating space manipulator. RoMoCo 2019: 166-171 - 2018
- [j34]Joanna Ratajczak, Krzysztof Tchon:
Dynamic non-holonomic motion planning by means of dynamically consistent Jacobian inverse. IMA J. Math. Control. Inf. 35(2): 479-489 (2018) - [j33]Krzysztof Tchon, Joanna Ratajczak:
General Lagrange-Type Jacobian Inverse for Nonholonomic Robotic Systems. IEEE Trans. Robotics 34(1): 256-263 (2018) - [c22]Krzysztof Tchon, Joanna Ratajczak, Janusz Jakubiak:
Normal Forms of Robotic Systems with Affine Pfaffian Constraints: A Case Study. ARK 2018: 250-257 - 2017
- [j32]Ida Góral, Krzysztof Tchon:
Lagrangian Jacobian Motion Planning: A Parametric Approach. J. Intell. Robotic Syst. 85(3-4): 511-522 (2017) - [c21]Krzysztof Tchon, Joanna Ratajczak:
General Lagrangian Jacobian motion planning algorithm for affine robotic systems with application to a space manipulator. MMAR 2017: 909-914 - [c20]Krzysztof Tchon, Joanna Ratajczak:
Kinematic and dynamic singularities of non-holonomic robotic systems. RoMoCo 2017: 148-153 - 2016
- [j31]Joanna Ratajczak, Krzysztof Tchon:
Dynamically consistent Jacobian inverse for mobile manipulators. Int. J. Control 89(6): 1159-1168 (2016) - [c19]Krzysztof Tchon:
Dynamic Singularities of Non-holonomic Robotic Systems: An Analytic Approach. ARK 2016: 403-411 - 2015
- [j30]Jan Kedzierski, Pawel Kaczmarek, Michal Dziergwa, Krzysztof Tchon:
Design for a Robotic Companion. Int. J. Humanoid Robotics 12(1): 1550007:1-1550007:25 (2015) - [j29]Adam Ratajczak, Krzysztof Tchon:
Parametric and Non-parametric Jacobian Motion Planning for Non-holonomic Robotic Systems. J. Intell. Robotic Syst. 77(3-4): 445-456 (2015) - [c18]Mariusz Janiak, Krzysztof Tchon:
Motion planning through waypoints for a skid-steering mobile platform. RoMoCo 2015: 58-63 - [c17]Katarzyna Zadarnowska, Krzysztof Tchon:
Modeling and motion planning of wheeled mobile robots subject to slipping. RoMoCo 2015: 78-83 - [c16]Krzysztof Tchon, Ida Góral, Adam Ratajczak:
Jacobian motion planning of nonholonomic robots: The Lagrangian Jacobian algorithm. RoMoCo 2015: 229-234 - 2014
- [j28]Zuzanna Pietrowska, Krzysztof Tchon:
Dynamics and Motion Planning of Trident Snake Robot. J. Intell. Robotic Syst. 75(1): 17-28 (2014) - [p1]Krzysztof Tchon, Krzysztof Arent, Mariusz Janiak, Lukasz Juszkiewicz:
Motion Planning for the Mobile Platform Rex. Recent Advances in Automation, Robotics and Measuring Techniques 2014: 497-506 - 2013
- [c15]Krzysztof Tchon:
Toward Design of a Robotic Companion. ICINCO (1) 2013: IS-7 - 2012
- [j27]Joanna Karpinska, Krzysztof Tchon, Mariusz Janiak:
Approximation of Jacobian Inverse Kinematics Algorithms: Differential Geometric vs. Variational Approach. J. Intell. Robotic Syst. 68(3-4): 211-224 (2012) - [c14]Janusz Jakubiak, Krzysztof Tchon, Mariusz Janiak:
Motion Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm. ARK 2012: 59-66 - [c13]Krzysztof Tchon, Janusz Jakubiak, Patrick Grosch, Federico Thomas:
Motion Planning for Parallel Robots with Non-holonomic Joints. ARK 2012: 115-122 - [c12]Krzysztof Tchon, Janusz Jakubiak:
Motion Planning of the Double-Link Trident Snake Robot. SyRoCo 2012: 337-342 - 2011
- [j26]Mariusz Janiak, Krzysztof Tchon:
Constrained motion planning of nonholonomic systems. Syst. Control. Lett. 60(8): 625-631 (2011) - [c11]Adam Ratajczak, Krzysztof Tchon:
Motion planning of a balancing robot with threefold sub-tasks: An endogenous configuration space approach. ICRA 2011: 6096-6101 - [c10]Joanna Karpinska, Krzysztof Tchon:
Continuation method approach to trajectory planning in robotic systems. MMAR 2011: 51-56 - 2010
- [j25]Janusz Jakubiak, Krzysztof Tchon, Wladyslaw Magiera:
Motion planning in velocity affine mechanical systems. Int. J. Control 83(9): 1965-1974 (2010) - [j24]Krzysztof Tchon:
Iterative learning control and the singularity robust Jacobian inverse for mobile manipulators. Int. J. Control 83(11): 2253-2260 (2010) - [j23]Adam Ratajczak, Joanna Karpinska, Krzysztof Tchon:
Task-priority motion planning of underactuated systems: an endogenous configuration space approach. Robotica 28(6): 885-892 (2010) - [j22]Adam Ratajczak, Joanna Karpinska, Krzysztof Tchon:
Task-priority motion planning of underactuated systems: an endogenous configuration space approach - ERRATUM. Robotica 28(6): 943 (2010) - [c9]Mariusz Janiak, Krzysztof Tchon:
Towards constrained motion planning of mobile manipulators. ICRA 2010: 4990-4995
2000 – 2009
- 2009
- [j21]Krzysztof Tchon, Joanna Karpinska, Mariusz Janiak:
Approximation of Jacobian inverse kinematics algorithms. Int. J. Appl. Math. Comput. Sci. 19(4): 519-531 (2009) - [j20]Krzysztof Tchon, Mariusz Janiak:
Repeatable approximation of the Jacobian pseudo-inverse. Syst. Control. Lett. 58(12): 849-856 (2009) - [j19]Krzysztof Tchon, Lukasz Malek:
On Dynamic Properties of Singularity Robust Jacobian Inverse Kinematics. IEEE Trans. Autom. Control. 54(6): 1402-1406 (2009) - 2008
- [j18]Krzysztof Tchon:
Optimal Extended Jacobian Inverse Kinematics Algorithms for Robotic Manipulators. IEEE Trans. Robotics 24(6): 1440-1445 (2008) - 2007
- [j17]Katarzyna Zadarnowska, Krzysztof Tchon:
A control theory framework for performance evaluation of mobile manipulators. Robotica 25(6): 703-715 (2007) - [c8]Katarzyna Zadarnowska, Krzysztof Tchon:
Kinematic Motion Patterns of Mobile Manipulators. RoMoCo 2007: 209-217 - 2006
- [j16]Krzysztof Tchon:
Repeatable, extended Jacobian inverse kinematics algorithm for mobile manipulators. Syst. Control. Lett. 55(2): 87-93 (2006) - [c7]Krzysztof Tchon, Janusz Jakubiak:
Jacobian inverse kinematics algorithms with variable steplength for mobile manipulators. ARK 2006: 465-472 - 2005
- [j15]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): 1051-1057 (2005) - [c6]Krzysztof Tchon, Janusz Jakubiak:
An Extended Jacobian Inverse Kinematics Algorithm for Doubly Nonholonomic Mobile Manipulators. ICRA 2005: 1548-1553 - 2004
- [c5]Krzysztof Tchon, Janusz Jakubiak, Katarzyna Zadarnowska:
Doubly Nonholonomic Mobile Manipulators. ICRA 2004: 4590-4595 - 2003
- [j14]Krzysztof Tchon, Katarzyna Zadarnowska:
Kinematic dexterity of mobile manipulators: an endogenous configuration space approach. Robotica 21(5): 521-530 (2003) - 2002
- [j13]Krzysztof Tchon, Janusz Jakubiak:
Extended Jacobian inverse kinematics algorithms for mobile manipulators. J. Field Robotics 19(9): 443-454 (2002) - [j12]Krzysztof Tchon:
Repeatability of inverse kinematics algorithms for mobile manipulators. IEEE Trans. Autom. Control. 47(8): 1376-1380 (2002) - 2001
- [c4]Erjen Lefeber, Janusz Jakubiak, Krzysztof Tchon, Henk Nijmeijer:
Observer Based Kinematic Tracking Controllers for a Unicycle-type Mobile Robot. ICRA 2001: 2084-2089 - [c3]Janusz Jakubiak, Krzysztof Tchon:
The Continuous Inverse Kinematic problem for Mobile Manipulators: A Case study in the Dynamic Extension. ICRA 2001: 2401-2406 - 2000
- [c2]Krzysztof Tchon, Robert Muszynski:
Instantaneous Kinematics and Dexterity of Mobile Manipulators. ICRA 2000: 2493-2498
1990 – 1999
- 1998
- [j11]Krzysztof Tchon, Robert Muszynski:
Singular inverse kinematic problem for robotic manipulators: a normal form approach. IEEE Trans. Robotics Autom. 14(1): 93-104 (1998) - [j10]Krzysztof Tchon:
Quadratic normal forms of redundant robot kinematics with application to singularity avoidance. IEEE Trans. Robotics Autom. 14(5): 834-837 (1998) - [c1]Krzysztof Tchon, Robert Muszynski:
A Normal form Solution to the Singular Inverse Kinematic Problem for Robotic Manipulators: The Quadratic Case. ICRA 1998: 3222-3227 - 1997
- [j9]Krzysztof Tchon, Robert Muszynski:
Singularities of Nonredundant Robot Kinematics. Int. J. Robotics Res. 16(1): 60-76 (1997) - 1996
- [j8]Robert Muszynski, Krzysztof Tchon:
Normal forms of non-redundant singular robot kinematics: Three DOF worked examples. J. Field Robotics 13(12): 765-791 (1996) - 1995
- [j7]Krzysztof Tchon, Aleksander Matuszok:
On avoiding singularities in redundant robot kinematics. Robotica 13(6): 599-606 (1995) - [j6]Krzysztof Tchon:
A normal form of singular kinematics of robot manipulators with smallest degeneracy. IEEE Trans. Robotics Autom. 11(3): 401-404 (1995) - 1994
- [j5]Krzysztof Tchon, Ignacy Duleba:
Definition of a kinematic metric for robot manipulators. J. Field Robotics 11(3): 211-221 (1994) - 1993
- [j4]Krzysztof Tchon, Ignacy Duleba:
On inverting singular kinematics and geodesic trajectory generation for robot manipulators. J. Intell. Robotic Syst. 8(3): 325-359 (1993) - 1992
- [j3]Krzysztof Tchon:
Calibration of manipulator kinematics: a singularity theory approach. IEEE Trans. Robotics Autom. 8(5): 671-678 (1992) - 1991
- [j2]Krzysztof Tchon:
Differential Topology of the Inverse Kinematic Problem for Redundant Robot Manipulators. Int. J. Robotics Res. 10(5): 492-504 (1991)
1980 – 1989
- 1983
- [j1]Krzysztof Tchon:
On generic properties of linear systems: An overview. Kybernetika 19(6): 467-474 (1983)
Coauthor Index
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