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

doi:10.1109/IROS.2003.1250619

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

Mechanical, Energy & Industrial Engineering

Research output: Contribution to conference › Paper › peer-review

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 language	English
Pages	142-148
Number of pages	7
DOIs	https://doi.org/10.1109/IROS.2003.1250619
Publication status	Published - Dec 26 2003
Event	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: Oct 27 2003 → Oct 31 2003

Other

Other	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Las Vegas, NV
Period	10/27/03 → 10/31/03

All Science Journal Classification (ASJC) codes

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

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10.1109/IROS.2003.1250619

Cite this

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

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.",

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Jamisola, RS, Maciejewski, AA & Roberts, RG 2003, 'A Path Planning Strategy for Kinematically Redundant Manipulators Anticipating Joint Failures in the Presence of Obstacles', Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States, 10/27/03 - 10/31/03 pp. 142-148. https://doi.org/10.1109/IROS.2003.1250619

A Path Planning Strategy for Kinematically Redundant Manipulators Anticipating Joint Failures in the Presence of Obstacles. / Jamisola, Rodrigo S.; Maciejewski, Anthony A.; Roberts, Rodney G.
2003. 142-148 Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.

Research output: Contribution to conference › Paper › peer-review

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AB - 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.

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

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