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Kinematically redundant manipulators are inherently more robust to locked joint failures than non-redundant manipulators. However, if poorly designed, performance degradation may still occur in the presence of a single locked joint. This paper presents a technique for designing a desired operating workspace for a kinematically redundant manipulator that can(More)
Robots are frequently employed in structured environments for automating repetitive tasks. To extend their application to remote or hazardous environments, one must guarantee some measure of failure tolerance. One way to do this is to use kinematically redundant robots that have additional degrees of freedom. They are inherently robust to locked joint(More)
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