Maciejewski, Anthony A., authorLewis, Christopher L., authorIEEE, publisher2007-01-032007-01-031997Lewis, Christopher L. and Anthony A. Maciejewski, Fault Tolerant Operation of Kinematically Redundant Manipulators for Locked Joint Failures, IEEE Transactions on Robotics and Automation 13, no. 4 (August 1997): 622-629.http://hdl.handle.net/10217/67355This paper studies the degree to which the kinematic redundancy of a manipulator may be utilized for failure tolerance. A redundant manipulator is considered to be fault tolerant with respect to a given task if it is guaranteed to be capable of performing the task after any one of its joints has failed and is locked in place. A method is developed for determining the necessary constraints which insure the failure tolerance of a kinematically redundant manipulator with respect to a given critical task. This method is based on estimating the bounding boxes enclosing the self-motion manifolds for a given set of critical task points. The intersection of these bounding boxes provides a set of artificial joint limits that may guarantee the reachability of the task points after a joint failure. An algorithm for dealing with the special case of 2-D self-motion surfaces is presented. These techniques are illustrated on a PUMA 560 that is used for a 3-D Cartesian positioning task.born digitalarticleseng©1997 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.manipulator kinematicskinematically redundantfault tolerancemanipulatorsredundant systemsJacobian matricesText