Failure-tolerant path planning for the PA-10 robot operating amongst obstacles

• Main Authors: Jamisola, Rodrigo S., Jr., Maciejewski, Anthony A., Roberts, Rodney G.
• Format: text
• Published: Animo Repository 2004
• Subjects: Robots—Kinematics; Fault-tolerant computing; Robotics
• Online Access: https://animorepository.dlsu.edu.ph/faculty_research/7271
• Institution: De La Salle University

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.