A path planning strategy for kinematically redundant manipulators anticipating joint failures in the presence of obstacles
College
Gokongwei College of Engineering
Department/Unit
Electronics And Communications Engg
Document Type
Conference Proceeding
Source Title
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
First Page
142
Last Page
148
Publication Date
10-2003
Abstract
This work considers the failure tolerant operation of a kinematically redundant manipulator in an environment containing obstacles. In particular, the article addresses the problem of planning a collision-free path for a manipulator operating in a static environment such that the manipulator can reach its desired goal despite a single locked-joint failure and the presence of obstacles in the environment. A method is presented that searches for a continuous obstacle-free space between the starting configuration and the desired final end-effector position, which is characterized in the joint space by the goal self-motion manifold. This method guarantees completion of critical tasks in the event of a single locked-joint failure in the presence of obstacles.
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Digitial Object Identifier (DOI)
10.1109/IROS.2003.1250619
Recommended Citation
Jamisola, R. S., Maciejewski, A. A., & Roberts, R. G. (2003). A path planning strategy for kinematically redundant manipulators anticipating joint failures in the presence of obstacles. Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, 142-148. https://doi.org/10.1109/IROS.2003.1250619
Disciplines
Robotics
Keywords
Fault-tolerant computing; Manipulators (Mechanism); Robots—Kinematics
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