Fault Tolerant Task Execution through Global Trajectory Planning

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cp.journ.RESS.1996.pdf (423.37 KB)
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Paredis, Christiaan J. J.
Khosla, Pradeep K.
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http://hdl.handle.net/1853/33329
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.
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Department of Energy (Grant #DOE-F902- 89ER14042)
Sandia (contract #AL–3020)
Date
1996
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