Failure-tolerant path planning for the PA-10 robot operating amongst obstacles

This work considers kinematic failure tolerance when obstacles are present hi the environment. An example is given using a fully spatial redundant robot, the seven degree-of-freedom Mitsubishi PA-10. This article addresses the issue of finding a collision-free path such that a redundant robot can successfully move from a start to a goal position and/or orientation in the workspace despite any single locked-joint failure at any time. An algorithm is presented that searches for a continuous obstacle-free monotonic surface in the configuration space that guarantees the existence of a solution. The method discussed is based on the following assumptions: a robot is redundant relative to its task, only a single locked-joint failure occurs at any given time, the robot is capable of detecting a joint failure and immediately locks the failed joint, and the environment is static and known.

[1]  N. I. Marzwell,et al.  Fault-tolerant robotic system for critical applications , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[2]  Yung Ting,et al.  A control structure for fault-tolerant operation of robotic manipulators , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[3]  Wyatt S. Newman,et al.  Reflexive collision avoidance: a generalized approach , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[4]  Yung Ting,et al.  Actuator saturation avoidance for fault-tolerant robots , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.

[5]  Anthony A. Maciejewski,et al.  Fault tolerant operation of kinematically redundant manipulators for locked joint failures , 1997, IEEE Trans. Robotics Autom..

[6]  Anthony A. Maciejewski,et al.  Fault tolerance for kinematically redundant manipulators: anticipating free-swinging joint failures , 1998, IEEE Trans. Robotics Autom..

[7]  P. M. Frank,et al.  Fuzzy logic based threshold adaption for fault detection in robots , 1994, 1994 Proceedings of IEEE International Conference on Control and Applications.

[8]  A. A. Maciejewski,et al.  Obstacle Avoidance , 2005 .

[9]  Anthony A. Maciejewski,et al.  Real-time failure-tolerant control of kinematically redundant manipulators , 1999, IEEE Trans. Robotics Autom..

[10]  B. Faverjon,et al.  Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces , 1996 .

[11]  L. Camarinha-Matos,et al.  A machine learning approach to error detection and recovery in assembly , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[12]  O. Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[13]  Anthony A. Maciejewski,et al.  A path planning strategy for kinematically redundant manipulators anticipating joint failures in the presence of obstacles , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[14]  Dinesh K. Pai,et al.  Computing fault tolerant motions for a robot manipulator , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[15]  Wan Kyun Chung,et al.  Failure recoverability by exploiting kinematic redundancy , 1996, Proceedings 5th IEEE International Workshop on Robot and Human Communication. RO-MAN'96 TSUKUBA.

[16]  J. Burdick.  On the inverse kinematics of redundant manipulators: characterization of the self-motion manifolds , 1989 .

[17]  Joseph R. Cavallaro,et al.  New dynamic model-based fault detection thresholds for robot manipulators , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[18]  Anthony A. Maciejewski,et al.  A local measure of fault tolerance for kinematically redundant manipulators , 1996, IEEE Trans. Robotics Autom..

[19]  Christiaan J. J. Paredis,et al.  Fault Tolerant Task Execution through Global Trajectory Planning , 1996 .

[20]  Anthony A. Maciejewski.  Fault tolerant properties of kinematically redundant manipulators , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[21]  Joseph R. Cavallaro,et al.  A dynamic fault tolerance framework for remote robots , 1995, IEEE Trans. Robotics Autom..

[22]  C. S. G. Lee,et al.  Robotics: Control, Sensing, Vision, and Intelligence , 1987 .