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

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    http://hdl.handle.net/10217/1358
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    Failure-tolerant path planning for the PA-10 robot operating amongst obstacles (559.1Kb)
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    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 ...
    Contributor
    Jamisola, Rodrigo S.; Maciejewski, Anthony A.; Roberts, Rodney G.

    Date
    2004
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    • Faculty Publications - Electrical and Computer Engineering

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