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

Conference proceedings article

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Author list: Jamisola RS, Maciejewski AA, Roberts RG

Publisher: IEEE

Place: NEW YORK

Publication year: 2003

Start page: 142

End page: 148

Number of pages: 7

ISBN: 0-7803-7860-1

Languages: English-Great Britain (EN-GB)

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Abstract

This 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.(1)

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