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

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Publication Details

Author list: Jamisola RS, Maciejewski AA, Roberts RG

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Place: PISCATAWAY

Publication year: 2006

Journal: IEEE Transactions on Robotics (1552-3098)

Journal acronym: IEEE T ROBOT

Volume number: 22

Issue number: 4

Start page: 603

End page: 612

Number of pages: 10

ISSN: 1552-3098

Languages: English-Great Britain (EN-GB)

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Abstract

This 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.

Keywords

kinematic failure tolerance, locked-joint failures, path planning, redundant manipulators, self-motion manifolds

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