Failure-tolerant path planning for the PA-10 robot operating amongst obstacles
| dc.contributor.author | Jamisola, Rodrigo S., author | |
| dc.contributor.author | Maciejewski, Anthony A., author | |
| dc.contributor.author | Roberts, Rodney G., author | |
| dc.contributor.author | IEEE, publisher | |
| dc.date.accessioned | 2015-07-28T20:36:11Z | |
| dc.date.available | 2015-07-28T20:36:11Z | |
| dc.date.issued | 2004 | |
| dc.description.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. | |
| dc.format.medium | born digital | |
| dc.format.medium | proceedings (reports) | |
| dc.identifier.bibliographicCitation | Jamisola, Rodrigo S., Jr., Anthony A. Maciejewski, and Rodney G. Roberts, Failure-Tolerant Path Planning for the PA-10 Robot Operating Amongst Obstacles, 2004 IEEE International Conference on Robotics and Automation: Proceedings, April 26-May 1, 2004, New Orleans, LA: 4995-5000. | |
| dc.identifier.uri | http://hdl.handle.net/10217/1358 | |
| dc.language | English | |
| dc.language.iso | eng | |
| dc.publisher | Colorado State University. Libraries | |
| dc.relation.ispartof | Faculty Publications | |
| dc.rights | ©2004 IEEE. | |
| dc.rights | Copyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright. | |
| dc.subject | collision avoidance | |
| dc.subject | fault tolerance | |
| dc.subject | redundant manipulators | |
| dc.title | Failure-tolerant path planning for the PA-10 robot operating amongst obstacles | |
| dc.type | Text |
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