(in lingua inglese)
The proposed PR-APT method facilitates planning a trajectory of manipulator end-effector whose path comprises two rectilinear segments of intersecting directions connected with the arc. The method is applicable for trajectory planning with obstacles which are avoided over the arc of the set radius. This method efficiency, as compared to the classical approach of polynomial trajectory planning, results from a necessity of determining only one coefficient of polynomial depicting acceleration profile. The PR-APT method was employed to generate endeffector trajectory at tomato harvest in the greenhouse.