Fault Tolerant Task Execution through Global Trajectory Planning

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/33329

Title: Fault Tolerant Task Execution through Global Trajectory Planning
Author: Paredis, Chris ; Khosla, Pradeep K.
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.
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.
Type: Article
URI: http://hdl.handle.net/1853/33329
ISSN: 0951-8320
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.
Date: 1996
Contributor: Georgia Institute of Technology. The Systems Realization Laboratory
Carnegie-Mellon University. Robotics Institute
Carnegie-Mellon University. Dept. of Electrical and Computer Engineering
Carnegie-Mellon University
Publisher: Georgia Institute of Technology
Subject: Fault tolerance
Trajectory planning
Robotic control

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