Fault Tolerant Task Execution through Global Trajectory Planning
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.
To appear in:
Reliability Engineering and System Safety
(special issue on Safety of Robotic Systems),
1996.
paredis@cmu.edu