Title:
Fault Tolerant Task Execution through Global Trajectory Planning
Fault Tolerant Task Execution through Global Trajectory Planning
Author(s)
Paredis, Christiaan J. J.
Khosla, Pradeep K.
Khosla, Pradeep K.
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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 article, we present a trajectory planning algorithm that guarantees fault tolerance while simultaneously satisfying joint limit and obstacle avoidance requirements.
Sponsor
Department of Energy (Grant #DOE-F902-
89ER14042)
Sandia (contract #AL–3020)
Sandia (contract #AL–3020)
Date Issued
1996
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Text
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Article