Jamisola, Rodrigo S., authorMaciejewski, Anthony A., authorRoberts, Rodney G., authorIEEE, publisher2015-07-282015-07-282004Jamisola, 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.http://hdl.handle.net/10217/1358This 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.born digitalproceedings (reports)eng©2004 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 avoidancefault toleranceredundant manipulatorsText