TY - JOUR N2 - In this paper a small time local controllability, naturally defined in a configuration space, is transferred into a task-space. It was given its analytical characterization and practical implications. A special attention was put on singular configurations. Theoretical considerations were illustrated with two calculation examples. An extensive comparison of the proposed construction with the controllability defined in an endogenous configuration space approach was presented pointing out to their advantages and disadvantages. L1 - http://www.czasopisma.pan.pl/Content/113682/PDF/02_ACS-2019-3-INTERNET.pdf L2 - http://www.czasopisma.pan.pl/Content/113682 PY - 2019 IS - No 3 EP - 423–436 DO - 10.24425/acs.2019.130199 KW - nonholonomic system KW - small time local controllability KW - configuration space KW - task-space A1 - Duleba, Ignacy A1 - Mielczarek, Arkadiusz PB - Committee of Automatic Control and Robotics PAS VL - vol. 29 DA - 2019.09.23 T1 - Small time local controllability of driftless nonholonomic systems in a task-space SP - 423–436 UR - http://www.czasopisma.pan.pl/dlibra/publication/edition/113682 T2 - Archives of Control Sciences ER -