Analyzing unidentified locked-joint failures in kinematically redundant manipulators
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Robots are frequently used for operations in hostile environments. The very nature of these environments, however, increases the likelihood of robot failures. Common failure tolerance techniques rely on effective failure detection and identification. Since a failure may not always be successfully identified, or, even if identified, may not be identified soon enough, it becomes important to consider the behavior of manipulators with unidentified failures. This work investigates the behavior of robots experiencing unidentified locked-joint failures in a general class of tasks characterized by ...