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

• Main Authors: Jamisola, Rodrigo S., Jr., Maciejewski, Anthony A., Roberts, Rodney G.
• Format: text
• Published: Animo Repository 2003
• Subjects: Fault-tolerant computing; Manipulators (Mechanism); Robots—Kinematics; Robotics
• Online Access: https://animorepository.dlsu.edu.ph/faculty_research/7130
• Institution: De La Salle University

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.