Jamisola, Rodrigo S., authorMaciejewski, Anthony A., authorRoberts, Rodney G., authorIEEE, publisher2015-07-282015-07-282003Jamisola, 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.http://hdl.handle.net/10217/1355This 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.born digitalproceedings (reports)eng©2003 IEEE.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.collision avoidanceend effectorsfault tolerancemanipulator kinematicsredundant manipulatorsText