Roberts, Rodney G., authorMaciejewski, Anthony A., authorJamisola, Rodrigo S., authorIEEE, publisher2007-01-032007-01-032006Jamisola, 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.http://hdl.handle.net/10217/624This 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.born digitalarticleseng©2006, 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.path planninglocked-joint failureskinematic failure toleranceredundant manipulatorsself-motion manifoldsText