A path planning strategy for kinematically redundant manipulators anticipating joint failures in the presence of obstacles
Date
2003
Authors
Jamisola, Rodrigo S., author
Maciejewski, Anthony A., author
Roberts, Rodney G., author
IEEE, publisher
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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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Subject
collision avoidance
end effectors
fault tolerance
manipulator kinematics
redundant manipulators