A Path Planning Strategy for Kinematically Redundant Manipulators Anticipating Joint Failures in the Presence of Obstacles

Rodrigo S. Jamisola, Anthony A. Maciejewski, Rodney G. Roberts

Research output: Contribution to conferencePaper

9 Citations (Scopus)

Abstract

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 selfmotion manifold. This method guarantees completion of critical tasks in the event of a single locked-joint failure in the presence of obstacles.

Original languageEnglish
Pages142-148
Number of pages7
DOIs
Publication statusPublished - Dec 26 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: Oct 27 2003Oct 31 2003

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period10/27/0310/31/03

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Jamisola, R. S., Maciejewski, A. A., & Roberts, R. G. (2003). A Path Planning Strategy for Kinematically Redundant Manipulators Anticipating Joint Failures in the Presence of Obstacles. 142-148. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States. https://doi.org/10.1109/IROS.2003.1250619