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When a manipulator suuers a joint failure, its performance can be signiicantly affected. If the failed joint is locked, the resulting manipulator Jacobian is given by the original Jacobian, except that the column associated with the failed joint is removed. The rank of the resulting Jacobian then determines if the manipulator still has the ability to(More)
In this paper, the authors examine the problem of designing nominal manipulator Jacobians that are optimally fault tolerant to one or more joint failures. Optimality is defined here in terms of the worst-case relative manipulability index. While this approach is applicable to both serial and parallel mechanisms, it is especially applicable to parallel(More)
About 15,000 species of ascomycete fungi lack a known sexual state. For fungi with asexual states in the anamorph genera Embellisia, Ulocladium, and Alternaria, six species have known sexual states but more than 50 species do not. In sexual filamentous ascomycetes, opposite mating type information at the MAT1 locus regulates mating and the opposite mating(More)
Kinematically redundant manipulators have been proposed for use in remote or hazardous environments due to their potential for tolerance to joint failures. This article deenes a local measure of failure tolerance based on the worst-case dexterity following a locked joint failure. Optimal values of this measure are identiied and related to the required(More)
In this article, the authors examine the problem of designing nominal manipulator Jacobians that are optimally fault tolerant to one or more joint failures. In this work, optimality is defined in terms of the worst case relative manipulability index. While this approach is applicable to both serial and parallel mechanisms, it is especially applicable to(More)
This work considers kinematic failure tolerance when obstacles are present in the environment. It 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(More)