Fault tolerant properties of kinematically redundant manipulators Maciejewski, Anthony A. The dexterity of kinematically redundant manipulators has been quantified and utilized for satisfying a variety of performance criteria. In this work, the degradation of dexterity due to a joint failure is analyzed. A definition of fault tolerance based on a worst-case measure of the remaining dexterity is presented and the properties of optimal fault tolerant configurations are discussed. Colorado State University. Libraries 1990 text ; image application/pdf ECEaam00057.pdf FACFECEN100057ARTI eng c1990 IEEE
Fault tolerant properties of kinematically redundant manipulators
Maciejewski, Anthony A.
The dexterity of kinematically redundant manipulators has been quantified and utilized for satisfying a variety of performance criteria. In this work, the degradation of dexterity due to a joint failure is analyzed. A definition of fault tolerance based on a worst-case measure of the remaining dexterity is presented and the properties of optimal fault tolerant configurations are discussed.
Colorado State University. Libraries
1990
text ; image
application/pdf
ECEaam00057.pdf
FACFECEN100057ARTI
eng
c1990 IEEE