Cart (Loading....) | Create Account
Close category search window
 

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

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Jamisola, R.S. ; Dept. of Electr. & Comput. Eng., Colorado State Univ., Fort Collins, CO ; Maciejewski, A.A. ; Roberts, R.G.

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

Published in:

Robotics, IEEE Transactions on  (Volume:22 ,  Issue: 4 )

Date of Publication:

Aug. 2006

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.