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Carnegie Mellon Robotics Institute

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Abstract

Whether a task can be completed after a failure of one of the degrees-of-freedom of a redundant manipulator depends on the joint angle at which the failure takes place. It is possible to achieve fault tolerance by globally planning a trajectory that avoids unfavorable joint positions before a failure occurs. In this paper we present a trajectory planning algorithm that guarantees fault tolerance while simultaneously satisfying joint limit and obstacle avoidance requirements.

Notes

Text Reference

Chris Paredis and Pradeep Khosla, "Global trajectory planning for fault tolerant manipulators," IEEE/RSJ International Conf. on Intelligent Robots and Systems, August, 1995, pp. 428-434.

BibTeX Reference

@inproceedings{Paredis_1995_1786,
   author = "Chris Paredis and Pradeep Khosla",
   title = "Global trajectory planning for fault tolerant manipulators",
   booktitle = "IEEE/RSJ International Conf. on Intelligent Robots and Systems",
   pages = "428-434",
   month = "August",
   year = "1995",
   volume = "2",
}

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