A path planning strategy for kinematically redundant manipulators anticipating joint failures in the presence of obstacles
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 rea...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | text |
| Published: |
Animo Repository
2003
|
| Subjects: | |
| Online Access: | https://animorepository.dlsu.edu.ph/faculty_research/7130 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Institution: | De La Salle University |
| Summary: | 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. |
|---|