Global Trajectory Planning for Fault Tolerant Manipulators

Christiaan J.J. Paredis and Pradeep K. Khosla

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.

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.