English, James D., authorMaciejewski, Anthony A., authorIEEE, publisher2007-01-032007-01-032000English, James D. and Anthony A. Maciejewski, Measuring and Reducing the Euclidean-Space Effects of Robotic Joint Failures, IEEE Transactions on Robotics and Automation 16, no. 1 (February 2000): 20-28.http://hdl.handle.net/10217/67361Robotic joint failures are directly characterized and measured in joint space. A locking failure, for example, is one for which a joint cannot move, and it gives an error equal to the desired value minus the locked value. This article extends the joint-space characterization to Euclidean space by measuring a failure's effect there. The approach is based on a rudimentary measure of point error that can be defined to be distance or path length. It is used to form comprehensive measures through weighted integration over Euclidean-space regions. For kinematically redundant manipulators, minimizing the measures using the redundancy is a method to induce failure tolerance. This can be applied both before a failure to reduce the likelihood of collision-induced damage and after a failure to reduce end-effector error. Examples for both cases are given.born digitalarticleseng©2000 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.locked joint failuremanipulatorsrobotsfault/failure tolerancefree-swinging joint failurekinematically redundantredundant robots/manipulatorskinematicsText