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

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

Research output: Contribution to journalConference articlepeer-review

10 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)4995-5000
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue number5
Publication statusPublished - Jul 5 2004
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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