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Failure-tolerant path planning for kinematically redundant manipulators anticipating locked-joint failures

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dc.contributor.authorRoberts, Rodney G., author
dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorJamisola, Rodrigo S., author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2007-01-03T07:26:31Z
dc.date.available2007-01-03T07:26:31Z
dc.date.issued2006
dc.description.abstractThis work considers kinematic failure tolerance when obstacles are present in the environment. It 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 simply-connected, obstacle-free surface with no internal local minimum or maximum 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. The technique is illustrated on a seven degree-of-freedom commercially available redundant robot. Although developed and illustrated for a single degree of redundancy, it is possible to extend the algorithm to higher degrees of redundancy.
dc.format.mediumborn digital
dc.format.mediumarticles
dc.identifier.bibliographicCitationJamisola, Rodrigo S., Jr., Anthony A. Maciejewski, and Rodney G. Roberts, Failure-Tolerant Path Planning for Kinematically Redundant Manipulators Anticipating Locked-Joint Failures, IEEE Transactions on Robotics 22, no. 4 (August 2006): 603-612.
dc.identifier.urihttp://hdl.handle.net/10217/624
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©2006, 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.subjectpath planning
dc.subjectlocked-joint failures
dc.subjectkinematic failure tolerance
dc.subjectredundant manipulators
dc.subjectself-motion manifolds
dc.titleFailure-tolerant path planning for kinematically redundant manipulators anticipating locked-joint failures
dc.typeText

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