Roberts, Rodney G., authorJamisola, Rodrigo S., authorMaciejewski, Anthony A., authorIEEE, publisher2015-07-282015-07-282007Roberts, Rodney G., Rodrigo S. Jamisola, Jr., and Anthony A. Maciegewski, Identifying the Failure-Tolerant Workspace Boundaries of a Kinematically Redundant Manipulator, 2007 IEEE International Conference on Robotics and Automation, Rome, Italy, 10-14 April, 2007: 4517-4523.http://hdl.handle.net/10217/1295In addition to possessing a number of other important properties, kinematically redundant manipulators are inherently more tolerant to locked-joint failures than nonredundant manipulators. However, a joint failure can still render a kinematically redundant manipulator useless if the manipulator is poorly designed or controlled. This paper presents a method for identifying a region of the workspace of a redundant manipulator for which task completion is guaranteed in the event of a locked-joint failure. The existence of such a region, called a failure-tolerant workspace, will be guaranteed by imposing a suitable set of artificial joint limits prior to a failure. Conditions are presented that characterize end-effector locations in this region. Based on these conditions, a method is presented that identifies the boundaries of the failure-tolerant workspace. Optimized failure-tolerant workspaces for a three degree-of-freedom planar robot are presented.born digitalproceedings (reports)eng©2007 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.end effectorsfailure analysisoptimisationredundant manipulatorsText