Maciejewski, Anthony A., authorEnglish, James D., authorIEEE, publisher2007-01-032007-01-031998English, James D. and Anthony A. Maciejewski, Fault Tolerance for Kinematically Redundant Manipulators: Anticipating Free-Swinging Joint Failures, IEEE Transactions on Robotics and Automation 14, no. 4 (August 1998): 566-575.http://hdl.handle.net/10217/67358Fault 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, accelerations, and swing angles. Minimizing these measures is an approach to achieving fault tolerance, and for this, algorithms to calculate their gradients are also given. The formulas are valid for general n-link manipulators.born digitalarticleseng©1998 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.kinematically redundantkinematicsfault/failure tolerancefree-swinging failureredundant-robots/manipulatorsmanipulatorsrobotsText