Fault Tolerant Task Execution through Global Trajectory Planning Christiaan J.J. Paredis Pradeep Khosla 10.1184/R1/6622235.v1 https://kilthub.cmu.edu/articles/journal_contribution/Fault_Tolerant_Task_Execution_through_Global_Trajectory_Planning/6622235 <p>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.</p> 1996-01-01 00:00:00 Software Research