Maciejewski, Anthony A., authorIEEE, publisher2007-01-032007-01-031990Maciejewski, Anthony A., Fault Tolerant Properties of Kinematically Redundant Manipulators, Proceedings: 1990 IEEE International Conference on Robotics and Automation, May 13-18, 1990, Cincinnati, Ohio: 638-642.http://hdl.handle.net/10217/1297The dexterity of kinematically redundant manipulators has been quantified and utilized for satisfying a variety of performance criteria. In this work, the degradation of dexterity due to a joint failure is analyzed. A definition of fault tolerance based on a worst-case measure of the remaining dexterity is presented and the properties of optimal fault tolerant configurations are discussed.born digitalproceedings (reports)eng©1990 IEEE.Copyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright.kinematicsrobotsText