Maciejewski, Anthony A., authorEnglish, James D., authorIEEE, publisher2007-01-032007-01-031996English, James D. and Anthony A. Maciejewski, Fault Tolerance for Kinematically Redundant Manipulators: Anticipating Free-Swinging Joint Failures, Proceedings: IEEE International Conference on Robotics and Automation, April 22-28, 1996, Minneapolis, Minnesota: 460-467.http://hdl.handle.net/10217/1216Fault tolerance is an important design criterion for robotic systems operating in hazardous or remote environments. This article addresses the issue of tolerating a free-swinging joint failure by focusing on how to best configure a slow-moving manipulator before a failure. Three scalar measures of fault susceptibility are defined using joint torques/forces, acceleration, and swing angles. Minimizing these measures is an approach to achieving fault tolerance, and for this, algorithms to calculate their gradients are given. The formulas are valid for general n-link manipulators.born digitalproceedings (reports)eng©1996 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.reliabilityredundancymanipulator kinematicsText