Fundamental limitations on designing optimally fault-tolerant redundant manipulators

IEEE Transactions on Robotics

Volumn 24, Issue 5, 2008, Pages 1224-1237

  Roberts, Rodney G ^a   Yu, Hyun Geun ^a   Maciejewski, Anthony A ^b  

^a FAMU FSU COLLEGE OF ENGINEERING   (United States)

^b Engineering Research Center and Hydraulics Laboratory   (United States)

Author keywords

Fault tolerance; Kinematic redundancy; Manipulability; Parallel manipulators

Indexed keywords

ERRORS; FAULT TOLERANCE; MANIPULATORS; MECHANISMS; REDUNDANT MANIPULATORS; RELIABILITY;

FAULT-TOLERANT; FUNDAMENTAL LIMITATIONS; JACOBIANS; JOINT FAILURES; KINEMATIC REDUNDANCY; MANIPULABILITY; MULTIPLE FAILURES; OPTIMALITY; PARALLEL MANIPULATORS; PARALLEL MECHANISMS; STEWART PLATFORMS;

QUALITY ASSURANCE;

EID: 56049123630     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.2003269     Document Type: Article

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