Joanna Ratajczak
Wrocław University of Science and Technology, AGH University of Krakow
Papers
13
Total Citations
110
H-Index
7
About
Joanna Ratajczak is a leading researcher in the field of non-holonomic robotic systems, with a particular focus on space robotics and mobile manipulators. Her work centers on the mathematical foundations of robotic motion, including normal forms, singularities, and Jacobian inverses for systems with Pfaffian constraints. Ratajczak’s major contributions include the development of a dynamically consistent Jacobian inverse for non-holonomic systems, an extension of a concept previously limited to holonomic manipulators, which enables more efficient motion planning for mobile robots and free-floating space manipulators. Her research on normal forms and configuration singularities has provided critical insights into the behavior of these complex systems, with her most-cited paper, “Normal forms and singularities of non-holonomic robotic systems: A study of free-floating space robots” (2020, 19 citations), exemplifying this work. Additionally, her studies on space manipulators and coordinate-free Jacobian motion planning (2021) have advanced the practical application of these theories. With over 100 citations across her top papers, Ratajczak’s contributions are foundational for researchers and engineers working on the control and motion planning of non-holonomic robots, particularly in aerospace applications.
Research Focus
Key Achievements
Top Papers
- 1
- 2General Lagrange-Type Jacobian Inverse for Nonholonomic Robotic Systems15 citations · 2017
- 3Normal Forms and Configuration Singularities of a Space Manipulator14 citations · 2018
- 4Dynamically consistent Jacobian inverse for non-holonomic robotic systems14 citations · 2016
- 5Dynamically consistent Jacobian inverse for mobile manipulators10 citations · 2015
- 6
- 7
- 8
- 9
- 10Coordinate-Free Jacobian Motion Planning: A 3-D Space Robot4 citations · 2021