Failure-tolerant path planning for the PA-10 robot operating amongst obstacles

College

Gokongwei College of Engineering

Department/Unit

Electronics And Communications Engg

Document Type

Conference Proceeding

Source Title

Proceedings of the 2004 IEEE International Conference on Robotics & Automation

First Page

4995

Last Page

5000

Publication Date

4-2004

Abstract

This work considers kinematic failure tolerance when obstacles are present in the environment. An example is given using a fully spatial redundant robot, the seven degree of-freedom Mitsubishi PA-10. This article addresses the issue of finding a collision-free path such that a redundant robot can successfully move from a start to a goal position and/or orientation in the workspace despite any single locked-joint failure at any time. An algorithm is presented that searches for a continuous obstacle-free monotonic surface in the configuration space that guarantees the existence of a solution. The method discussed is based on the following assumptions: a robot is redundant relative to its task, only a single locked-joint failure occurs at any given time, the robot is capable of detecting a joint failure and immediately locks the failed joint, and the environment is static and known.

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Disciplines

Robotics

Keywords

Robots—Kinematics; Fault-tolerant computing

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