Global trajectory planning for fault tolerant manipulators
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 428 - 434, August, 1995
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 paper we present a trajectory planning algorithm that guarantees fault tolerance while simultaneously satisfying joint limit and obstacle avoidance requirements.
BibTeX
@conference{Paredis-1995-13944,author = {Chris Paredis and Pradeep Khosla},
title = {Global trajectory planning for fault tolerant manipulators},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1995},
month = {August},
volume = {2},
pages = {428 - 434},
}
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