A path planning strategy for kinematically redundant manipulators anticipating joint failures in the presence of obstacles Jamisola, Rodrigo S. ; Maciejewski, Anthony A. ; Roberts, Rodney G. "Prepared through collaborative participation in the Communications and Networks Consortium sponsored by the U. S. Army Research Laboratory under the Collaborative Technology Alliance Program, Cooperative Agreement DAAD19-01-2-0012." 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. Colorado State University. Libraries 2003 text ; image application/pdf ECEaam00099.pdf FACFECEN100099ARTI eng c2003 IEEE
A path planning strategy for kinematically redundant manipulators anticipating joint failures in the presence of obstacles
Jamisola, Rodrigo S. ; Maciejewski, Anthony A. ; Roberts, Rodney G.
"Prepared through collaborative participation in the Communications and Networks Consortium sponsored by the U. S. Army Research Laboratory under the Collaborative Technology Alliance Program, Cooperative Agreement DAAD19-01-2-0012."
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.
Colorado State University. Libraries
2003
text ; image
application/pdf
ECEaam00099.pdf
FACFECEN100099ARTI
eng
c2003 IEEE