On generic properties of linear systems: An overview. - Krzysztof Tchon (Kybernetika, 1983)

Differential Topology of the Inverse Kinematic Problem for Redundant Robot Manipulators. - Krzysztof Tchon (Int. J. Robotics Res., 1991)

Calibration of manipulator kinematics: a singularity theory approach. - Krzysztof Tchon (IEEE Trans. Robotics Autom., 1992)

On inverting singular kinematics and geodesic trajectory generation for robot manipulators. - Krzysztof Tchon; Ignacy Duleba (J. Intell. Robotic Syst., 1993)

Definition of a kinematic metric for robot manipulators. - Krzysztof Tchon; Ignacy Duleba (J. Field Robotics, 1994)

On avoiding singularities in redundant robot kinematics. - Krzysztof Tchon; Aleksander Matuszok (Robotica, 1995)

A normal form of singular kinematics of robot manipulators with smallest degeneracy. - Krzysztof Tchon (IEEE Trans. Robotics Autom., 1995)

Normal forms of non-redundant singular robot kinematics: Three DOF worked examples. - Robert Muszynski; Krzysztof Tchon (J. Field Robotics, 1996)

Singularities of Nonredundant Robot Kinematics. - Krzysztof Tchon; Robert Muszynski (Int. J. Robotics Res., 1997)

A Normal form Solution to the Singular Inverse Kinematic Problem for Robotic Manipulators: The Quadratic Case. - Krzysztof Tchon; Robert Muszynski (ICRA, 1998)

Quadratic normal forms of redundant robot kinematics with application to singularity avoidance. - Krzysztof Tchon (IEEE Trans. Robotics Autom., 1998)

Singular inverse kinematic problem for robotic manipulators: a normal form approach. - Krzysztof Tchon; Robert Muszynski (IEEE Trans. Robotics Autom., 1998)

Instantaneous Kinematics and Dexterity of Mobile Manipulators. - Krzysztof Tchon; Robert Muszynski (ICRA, 2000)

The Continuous Inverse Kinematic problem for Mobile Manipulators: A Case study in the Dynamic Extension. - Janusz Jakubiak; Krzysztof Tchon (ICRA, 2001)

Observer Based Kinematic Tracking Controllers for a Unicycle-type Mobile Robot. - Erjen Lefeber; Janusz Jakubiak; Krzysztof Tchon; Henk Nijmeijer (ICRA, 2001)

Extended Jacobian inverse kinematics algorithms for mobile manipulators. - Krzysztof Tchon; Janusz Jakubiak (J. Field Robotics, 2002)

Repeatability of inverse kinematics algorithms for mobile manipulators. - Krzysztof Tchon (IEEE Trans. Autom. Control., 2002)

Kinematic dexterity of mobile manipulators: an endogenous configuration space approach. - Krzysztof Tchon; Katarzyna Zadarnowska (Robotica, 2003)

Doubly Nonholonomic Mobile Manipulators. - Krzysztof Tchon; Janusz Jakubiak; Katarzyna Zadarnowska (ICRA, 2004)

An Extended Jacobian Inverse Kinematics Algorithm for Doubly Nonholonomic Mobile Manipulators. - Krzysztof Tchon; Janusz Jakubiak (ICRA, 2005)

A repeatable inverse kinematics algorithm with linear invariant subspaces for mobile manipulators. - Krzysztof Tchon; Janusz Jakubiak (IEEE Trans. Syst. Man Cybern. Part B, 2005)

Jacobian inverse kinematics algorithms with variable steplength for mobile manipulators. - Krzysztof Tchon; Janusz Jakubiak (ARK, 2006)

Repeatable, extended Jacobian inverse kinematics algorithm for mobile manipulators. - Krzysztof Tchon (Syst. Control. Lett., 2006)

Kinematic Motion Patterns of Mobile Manipulators. - Katarzyna Zadarnowska; Krzysztof Tchon (RoMoCo, 2007)

A control theory framework for performance evaluation of mobile manipulators. - Katarzyna Zadarnowska; Krzysztof Tchon (Robotica, 2007)

Optimal Extended Jacobian Inverse Kinematics Algorithms for Robotic Manipulators. - Krzysztof Tchon (IEEE Trans. Robotics, 2008)

Approximation of Jacobian inverse kinematics algorithms. - Krzysztof Tchon; Joanna Karpinska; Mariusz Janiak (Int. J. Appl. Math. Comput. Sci., 2009)

Repeatable approximation of the Jacobian pseudo-inverse. - Krzysztof Tchon; Mariusz Janiak (Syst. Control. Lett., 2009)

On Dynamic Properties of Singularity Robust Jacobian Inverse Kinematics. - Krzysztof Tchon; Lukasz Malek (IEEE Trans. Autom. Control., 2009)

Towards constrained motion planning of mobile manipulators. - Mariusz Janiak; Krzysztof Tchon (ICRA, 2010)

Motion planning in velocity affine mechanical systems. - Janusz Jakubiak; Krzysztof Tchon; Wladyslaw Magiera (Int. J. Control, 2010)

Iterative learning control and the singularity robust Jacobian inverse for mobile manipulators. - Krzysztof Tchon (Int. J. Control, 2010)

Task-priority motion planning of underactuated systems: an endogenous configuration space approach. - Adam Ratajczak; Joanna Karpinska; Krzysztof Tchon (Robotica, 2010)

Task-priority motion planning of underactuated systems: an endogenous configuration space approach - ERRATUM. - Adam Ratajczak; Joanna Karpinska; Krzysztof Tchon (Robotica, 2010)

Motion planning of a balancing robot with threefold sub-tasks: An endogenous configuration space approach. - Adam Ratajczak; Krzysztof Tchon (ICRA, 2011)

Continuation method approach to trajectory planning in robotic systems. - Joanna Karpinska; Krzysztof Tchon (MMAR, 2011)

Constrained motion planning of nonholonomic systems. - Mariusz Janiak; Krzysztof Tchon (Syst. Control. Lett., 2011)

Motion Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm. - Janusz Jakubiak; Krzysztof Tchon; Mariusz Janiak (ARK, 2012)

Motion Planning for Parallel Robots with Non-holonomic Joints. - Krzysztof Tchon; Janusz Jakubiak; Patrick Grosch; Federico Thomas (ARK, 2012)

Motion Planning of the Double-Link Trident Snake Robot. - Krzysztof Tchon; Janusz Jakubiak (SyRoCo, 2012)

Approximation of Jacobian Inverse Kinematics Algorithms: Differential Geometric vs. Variational Approach. - Joanna Karpinska; Krzysztof Tchon; Mariusz Janiak (J. Intell. Robotic Syst., 2012)

Toward Design of a Robotic Companion. - Krzysztof Tchon (ICINCO (1), 2013)

Dynamics and Motion Planning of Trident Snake Robot. - Zuzanna Pietrowska; Krzysztof Tchon (J. Intell. Robotic Syst., 2014)

Motion Planning for the Mobile Platform Rex. - Krzysztof Tchon; Krzysztof Arent; Mariusz Janiak; Lukasz Juszkiewicz (Recent Advances in Automation, Robotics and Measuring Techniques, 2014)

Motion planning through waypoints for a skid-steering mobile platform. - Mariusz Janiak; Krzysztof Tchon (RoMoCo, 2015)

Jacobian motion planning of nonholonomic robots: The Lagrangian Jacobian algorithm. - Krzysztof Tchon; Ida Góral; Adam Ratajczak (RoMoCo, 2015)

Modeling and motion planning of wheeled mobile robots subject to slipping. - Katarzyna Zadarnowska; Krzysztof Tchon (RoMoCo, 2015)

Design for a Robotic Companion. - Jan Kedzierski; Pawel Kaczmarek; Michal Dziergwa; Krzysztof Tchon (Int. J. Humanoid Robotics, 2015)

Parametric and Non-parametric Jacobian Motion Planning for Non-holonomic Robotic Systems. - Adam Ratajczak; Krzysztof Tchon (J. Intell. Robotic Syst., 2015)

Dynamic Singularities of Non-holonomic Robotic Systems: An Analytic Approach. - Krzysztof Tchon (ARK, 2016)

Dynamically consistent Jacobian inverse for mobile manipulators. - Joanna Ratajczak; Krzysztof Tchon (Int. J. Control, 2016)

General Lagrangian Jacobian motion planning algorithm for affine robotic systems with application to a space manipulator. - Krzysztof Tchon; Joanna Ratajczak (MMAR, 2017)

Kinematic and dynamic singularities of non-holonomic robotic systems. - Krzysztof Tchon; Joanna Ratajczak (RoMoCo, 2017)

Lagrangian Jacobian Motion Planning: A Parametric Approach. - Ida Góral; Krzysztof Tchon (J. Intell. Robotic Syst., 2017)

Normal Forms of Robotic Systems with Affine Pfaffian Constraints: A Case Study. - Krzysztof Tchon; Joanna Ratajczak; Janusz Jakubiak (ARK, 2018)

Dynamic non-holonomic motion planning by means of dynamically consistent Jacobian inverse. - Joanna Ratajczak; Krzysztof Tchon (IMA J. Math. Control. Inf., 2018)

General Lagrange-Type Jacobian Inverse for Nonholonomic Robotic Systems. - Krzysztof Tchon; Joanna Ratajczak (IEEE Trans. Robotics, 2018)

Lagrangian Jacobian motion planning with application to a free-floating space manipulator. - Joanna Ratajczak; Krzysztof Tchon (RoMoCo, 2019)

Preface to Special Issue on Robot Perception and Control. - Cezary Zielinski; Krzysztof Tchon (J. Autom. Mob. Robotics Intell. Syst., 2019)

Normal Forms and Configuration Singularities of a Space Manipulator. - Krzysztof Tchon; Witold Respondek; Joanna Ratajczak (J. Intell. Robotic Syst., 2019)

Linear Registration and Robot Motion Planning. - Roberto Orozco; Krzysztof Tchon (IMAMR, 2020)

Normal Forms of a Free-Floating Space Robot. - Krzysztof Tchon (KKA, 2020)

Normal forms and singularities of non-holonomic robotic systems: A study of free-floating space robots. - Joanna Ratajczak; Krzysztof Tchon (Syst. Control. Lett., 2020)

Singularities of holonomic and non-holonomic robotic systems: A normal form approach. - Krzysztof Tchon; Joanna Ratajczak (J. Frankl. Inst., 2021)

Coordinate-Free Jacobian Motion Planning: A 3-D Space Robot. - Joanna Ratajczak; Krzysztof Tchon (IEEE Trans. Syst. Man Cybern. Syst., 2022)