Global Trajectory Planning for Fault Tolerant Manipulators
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.
Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'95),
Pittsburgh, PA, Vol. 2, pp. 428-434,
August 5-9, 1995.