Kinematic Design of Fault Tolerant Manipulators
Journal Article, Computers & Electrical Engineering, Vol. 20, No. 3, pp. 211 - 220, May, 1994
Abstract
This paper defines the property of kinematic fault tolerance and develops a general constructive proof of the existence of fault tolerant manipulators. After formulating the necessary and sufficient condition for fault tolerance, a planar manipulator with a minimal kinematic structure is designed. A generalization to spatial manipulators, using a numerical approach is formulated. Finally, it is shown how this approach enables us to solve the spatial design problem.
BibTeX
@article{Paredis-1994-16073,author = {Chris Paredis and W. K. F. Au and Pradeep Khosla},
title = {Kinematic Design of Fault Tolerant Manipulators},
journal = {Computers & Electrical Engineering},
year = {1994},
month = {May},
volume = {20},
number = {3},
pages = {211 - 220},
}
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