Fault tolerant operation of kinematically redundant manipulators for locked joint failures

@article{Lewis1997FaultTO,
  title={Fault tolerant operation of kinematically redundant manipulators for locked joint failures},
  author={Christopher L. Lewis and Anthony A. Maciejewski},
  journal={IEEE Trans. Robotics and Automation},
  year={1997},
  volume={13},
  pages={622-629}
}
| This work studies the degree to which the kinematic redundancy of a manipulator may be utilized for failure tolerance. A redundant manipulator is considered to be fault tolerant with respect to a given task if it is guaranteed to be capable of performing the task after any one of its joints has failed and is locked in place. A method is developed for determining the necessary constraints which insure the failure tolerance of a kinematically redundant manip-ulator with respect to a given… CONTINUE READING
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