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• W2117905962 abstract "This work considers kinematic failure tolerance when obstacles are present hi the environment. An example is given using a fully spatial redundant robot, the seven degree-of-freedom Mitsubishi PA-10. This article addresses the issue of finding a collision-free path such that a redundant robot can successfully move from a start to a goal position and/or orientation in the workspace despite any single locked-joint failure at any time. An algorithm is presented that searches for a continuous obstacle-free monotonic surface in the configuration space that guarantees the existence of a solution. The method discussed is based on the following assumptions: a robot is redundant relative to its task, only a single locked-joint failure occurs at any given time, the robot is capable of detecting a joint failure and immediately locks the failed joint, and the environment is static and known." @default.
• W2117905962 created "2016-06-24" @default.
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• W2117905962 date "2004-01-01" @default.
• W2117905962 modified "2023-10-18" @default.
• W2117905962 title "Failure-tolerant path planning for the PA-10 robot operating amongst obstacles" @default.
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• W2117905962 doi "https://doi.org/10.1109/robot.2004.1302509" @default.
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