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

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dc.contributor.authorJamisola, Rodrigo S., author
dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorRoberts, Rodney G., author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2015-07-28T20:36:11Z
dc.date.available2015-07-28T20:36:11Z
dc.date.issued2003
dc.description.abstractThis 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.
dc.description.sponsorshipPrepared through collaborative participation in the Communications and Networks Consortium sponsored by the U. S. Army Research Laboratory under the Collaborative Technology Alliance Program, Cooperative Agreement DAAD19-01-2-0012.
dc.format.mediumborn digital
dc.format.mediumproceedings (reports)
dc.identifier.bibliographicCitationJamisola, Rodrigo S., Jr., Anthony A. Maciejewski, and Rodney G. Roberts, A Path Planning Strategy for Kinematically Redundant Manipulators Anticipating Joint Failures in the Presence of Obstacles, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), October 27-31, 2003, Las Vegas, Nevada, Proceedings: 142-148.
dc.identifier.urihttp://hdl.handle.net/10217/1355
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©2003 IEEE.
dc.rightsCopyright 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.subjectcollision avoidance
dc.subjectend effectors
dc.subjectfault tolerance
dc.subjectmanipulator kinematics
dc.subjectredundant manipulators
dc.titleA path planning strategy for kinematically redundant manipulators anticipating joint failures in the presence of obstacles
dc.typeText

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