Failure-tolerant path planning for kinematically redundant manipulators anticipating locked-joint failures

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

Research output: Contribution to journalArticle

52 Citations (Scopus)

Abstract

This work considers kinematic failure tolerance when obstacles are present in the environment. It 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 simply-connected, obstacle-free surface with no internal local minimum or maximum 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. The technique is illustrated on a seven degree-of-freedom commercially available redundant robot. Although developed and illustrated for a single degree of redundancy, it is possible to extend the algorithm to higher degrees of redundancy.

Original languageEnglish
Pages (from-to)603-612
Number of pages10
JournalIEEE Transactions on Robotics
Volume22
Issue number4
DOIs
Publication statusPublished - Aug 1 2006

Fingerprint

Redundant manipulators
Motion planning
Robots
Redundancy
Kinematics

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

@article{5f9dd985036e49409affb331d3677060,
title = "Failure-tolerant path planning for kinematically redundant manipulators anticipating locked-joint failures",
abstract = "This work considers kinematic failure tolerance when obstacles are present in the environment. It 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 simply-connected, obstacle-free surface with no internal local minimum or maximum 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. The technique is illustrated on a seven degree-of-freedom commercially available redundant robot. Although developed and illustrated for a single degree of redundancy, it is possible to extend the algorithm to higher degrees of redundancy.",
author = "Jamisola, {Rodrigo S.} and Maciejewski, {Anthony A.} and Roberts, {Rodney G.}",
year = "2006",
month = "8",
day = "1",
doi = "10.1109/TRO.2006.878959",
language = "English",
volume = "22",
pages = "603--612",
journal = "IEEE Transactions on Robotics",
issn = "1552-3098",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "4",

}

Failure-tolerant path planning for kinematically redundant manipulators anticipating locked-joint failures. / Jamisola, Rodrigo S.; Maciejewski, Anthony A.; Roberts, Rodney G.

In: IEEE Transactions on Robotics, Vol. 22, No. 4, 01.08.2006, p. 603-612.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Failure-tolerant path planning for kinematically redundant manipulators anticipating locked-joint failures

AU - Jamisola, Rodrigo S.

AU - Maciejewski, Anthony A.

AU - Roberts, Rodney G.

PY - 2006/8/1

Y1 - 2006/8/1

N2 - This work considers kinematic failure tolerance when obstacles are present in the environment. It 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 simply-connected, obstacle-free surface with no internal local minimum or maximum 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. The technique is illustrated on a seven degree-of-freedom commercially available redundant robot. Although developed and illustrated for a single degree of redundancy, it is possible to extend the algorithm to higher degrees of redundancy.

AB - This work considers kinematic failure tolerance when obstacles are present in the environment. It 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 simply-connected, obstacle-free surface with no internal local minimum or maximum 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. The technique is illustrated on a seven degree-of-freedom commercially available redundant robot. Although developed and illustrated for a single degree of redundancy, it is possible to extend the algorithm to higher degrees of redundancy.

UR - http://www.scopus.com/inward/record.url?scp=33747609108&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33747609108&partnerID=8YFLogxK

U2 - 10.1109/TRO.2006.878959

DO - 10.1109/TRO.2006.878959

M3 - Article

AN - SCOPUS:33747609108

VL - 22

SP - 603

EP - 612

JO - IEEE Transactions on Robotics

JF - IEEE Transactions on Robotics

SN - 1552-3098

IS - 4

ER -