Fault Tolerant Task Execution through Global Trajectory Planning

Show full item record

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
Elsevier
Subject: Fault tolerance
Trajectory planning
Kinematics
Robotic control

All materials in SMARTech are protected under U.S. Copyright Law and all rights are reserved, unless otherwise specifically indicated on or in the materials.

Files in this item

Files Size Format View
cp.journ.RESS.1996.pdf 423.3Kb PDF View/ Open

This item appears in the following Collection(s)

Show full item record