Fault tolerant operation of kinematically redundant manipulators for locked joint failures

IEEE Transactions on Robotics and Automation

Volumn 13, Issue 4, 1997, Pages 622-629

  Lewis, Christopher L ^a   Maciejewski, Anthony A ^b  

^a SANDIA NATIONAL LABORATORIES   (United States)

^b PURDUE UNIVERSITY   (United States)

Author keywords

Fault tolerance; Jacobian matrices; Kinematically redundant; Manipulator kinematics; Manipulators; Redundant systems

Indexed keywords

ALGORITHMS; COMPUTATIONAL METHODS; CONSTRAINT THEORY; FAILURE ANALYSIS; KINEMATICS; MATRIX ALGEBRA; REDUNDANCY;

JACOBIAN MATRICES; REDUNDANT MANIPULATORS;

MANIPULATORS;

EID: 0031200241     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.611335     Document Type: Article

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