Title:
Fault Tolerant Task Execution through Global Trajectory Planning
Fault Tolerant Task Execution through Global Trajectory Planning
| dc.contributor.author | Paredis, Christiaan J. J. | |
| dc.contributor.author | Khosla, Pradeep K. | |
| dc.contributor.corporatename | Georgia Institute of Technology. The Systems Realization Laboratory | |
| dc.contributor.corporatename | Carnegie-Mellon University. Robotics Institute | |
| dc.contributor.corporatename | Carnegie-Mellon University. Dept. of Electrical and Computer Engineering | |
| dc.contributor.corporatename | Carnegie-Mellon University | |
| dc.date.accessioned | 2010-05-25T20:10:56Z | |
| dc.date.available | 2010-05-25T20:10:56Z | |
| dc.date.issued | 1996 | |
| dc.description | This is the pre-print of an article to appear in the journal Reliability Engineering and Systems Safety. The published article is located at http://sciencedirect.com (DOI: 10.1016/S0951-8320(96)00050-6). © Elsevier. | en_US |
| dc.description.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. | en_US |
| dc.description.sponsorship | Department of Energy (Grant #DOE-F902- 89ER14042) | en_US |
| dc.description.sponsorship | Sandia (contract #AL–3020) | |
| dc.identifier.citation | Paredis, C. J. J. and Khosla, P. K. (1996) Fault Tolerant Task Execution through Global Trajectory Planning. Reliability Engineering and Systems Safety, 53(3), 225-235. | en_US |
| dc.identifier.issn | 0951-8320 | |
| dc.identifier.uri | http://hdl.handle.net/1853/33329 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Elsevier | |
| dc.subject | Fault tolerance | en_US |
| dc.subject | Trajectory planning | en_US |
| dc.subject | Kinematics | en_US |
| dc.subject | Robotic control | en_US |
| dc.title | Fault Tolerant Task Execution through Global Trajectory Planning | en_US |
| dc.type | Text | |
| dc.type.genre | Article | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | George W. Woodruff School of Mechanical Engineering | |
| local.contributor.corporatename | College of Engineering | |
| relation.isOrgUnitOfPublication | c01ff908-c25f-439b-bf10-a074ed886bb7 | |
| relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 |