Kinematic Design of Fault Tolerant Manipulators
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.
Computers and Electrical Engineering,Vol. 20, No. 3, pp. 211-220, 1994.