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Planning Fail-Safe Trajectories for Space Robotic Arms

Porges, Oliver and Leidner, Daniel and Roa Garzon, Máximo Alejandro (2021) Planning Fail-Safe Trajectories for Space Robotic Arms. Frontiers in Robotics and AI, 8. Frontiers Media S.A. doi: 10.3389/frobt.2021.710021. ISSN 2296-9144.

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Official URL: https://www.frontiersin.org/articles/10.3389/frobt.2021.710021/full

Abstract

A frequent concern for robot manipulators deployed in dangerous and hazardous environments for humans is the reliability of task executions in the event of a joint failure. A redundant robotic manipulator can be used to mitigate the risk and guarantee a post-failure task completion, which is critical for instance for space applications. This paper describes methods to analyze potential risks due to a joint failure, and introduces tools for fault-tolerant task design and path planning for robotic manipulators. The presented methods are based on off-line precomputed workspace models. The methods are general enough to cope with robots with any type of joint (revolute or prismatic) and any number of degrees of freedom, and might include arbitrarily shaped obstacles in the process, without resorting to simplified models. Application examples illustrate the potential of the approach

Item URL in elib:https://elib.dlr.de/147158/
Document Type:Article
Title:Planning Fail-Safe Trajectories for Space Robotic Arms
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Porges, OliverAgile Robotshttps://orcid.org/0000-0003-2625-2364
Leidner, DanielDaniel.Leidner (at) dlr.dehttps://orcid.org/0000-0001-5091-7122
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Date:30 November 2021
Journal or Publication Title:Frontiers in Robotics and AI
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:8
DOI :10.3389/frobt.2021.710021
Publisher:Frontiers Media S.A
ISSN:2296-9144
Status:Published
Keywords:robotic arms, fail-tolerant path,
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Autonomy & Dexterity [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:10 Dec 2021 00:13
Last Modified:14 Dec 2021 15:16

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