Fault tolerant operation of kinematically redundant manipulators for locked joint failures
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This paper 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 manipulator with respect to a given critical task. This method is based on estimating the bounding boxes enclosing the self-motion manifolds for ...