A path planning strategy for kinematically redundant manipulators anticipating joint failures in the presence of obstacles

@inproceedings{Jamisola2003APP,
  title={A path planning strategy for kinematically redundant manipulators anticipating joint failures in the presence of obstacles},
  author={Rodrigo S. Jamisola and Anthony A. Maciejewski and Rodney G. Roberts},
  booktitle={IROS},
  year={2003}
}
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… CONTINUE READING

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