Kinematic Design of Fault Tolerant Manipulators

Christiaan J.J. Paredis, W.K. Frederick Au, and Pradeep K. Khosla

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.