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    Path planning strategy for kinematically redundant manipulators anticipating joint failures in the presence of obstacles, A

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    http://hdl.handle.net/10217/1355
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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 ...
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    Author(s)
    Jamisola, Rodrigo S.; Maciejewski, Anthony A.; Roberts, Rodney G.

    Date Issued
    2003
    Format
    born digital; proceedings (reports)
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    • Faculty Publications - Department of Electrical and Computer Engineering

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