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...
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| Main Authors: | , , |
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| 格式: | text |
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Animo Repository
2003
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| 主題: | |
| 在線閱讀: | https://animorepository.dlsu.edu.ph/faculty_research/7130 |
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| 機構: | De La Salle University |
| 總結: | 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. |
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