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Fundamental Limitations on Designing Optimally Fault-Tolerant Redundant Manipulators

โœ Scribed by Roberts, R.G.; Hyun Geun Yu; Maciejewski, A.A.


Book ID
118164921
Publisher
IEEE
Year
2008
Tongue
English
Weight
638 KB
Volume
24
Category
Article
ISSN
1552-3098

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Fault tolerant motion planning of two spatial coordinating manipulators having two possible locked joints respectively is studied. First, the calculation method of fault tolerant workspace with respect to different joints is given, and the centrality index that measures the relative position between