Failure-tolerant path planning for the PA-10 robot operating amongst obstacles
This work considers kinematic failure tolerance when obstacles are present in the environment. An example is given using a fully spatial redundant robot, the seven degree of-freedom Mitsubishi PA-10. This article addresses the issue of finding a collision-free path such that a redundant robot can su...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | text |
| Published: |
Animo Repository
2004
|
| Subjects: | |
| Online Access: | https://animorepository.dlsu.edu.ph/faculty_research/7271 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Institution: | De La Salle University |
| Summary: | This work considers kinematic failure tolerance when obstacles are present in the environment. An example is given using a fully spatial redundant robot, the seven degree of-freedom Mitsubishi PA-10. This article 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 continuous obstacle-free monotonic surface 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. |
|---|