Balakrishnan, Venkataramanan, authorMaciejewski, Anthony A., authorGoel, Manish, authorWiley Periodicals, Inc., publisher2007-01-032007-01-032005Goel, Manish, Anthony A. Maciejewski, and Venkataramanan Balakrishnan, Analyzing Unidentified Locked-Joint Failures in Kinematically Redundant Manipulators, Journal of Robotic Systems 22, no. 1 (January 2005): 15-29.http://hdl.handle.net/10217/67368Robots are frequently used for operations in hostile environments. The very nature of these environments, however, increases the likelihood of robot failures. Common failure tolerance techniques rely on effective failure detection and identification. Since a failure may not always be successfully identified, or, even if identified, may not be identified soon enough, it becomes important to consider the behavior of manipulators with unidentified failures. This work investigates the behavior of robots experiencing unidentified locked-joint failures in a general class of tasks characterized by point-to-point motion. Based on the analysis, a procedure for workspace evaluation is developed that allows for the identification of regions in the manipulator's workspace in which tasks may be completed even with such failures.born digitalarticleseng©2005 Wiley Periodicals, Inc.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.robotic systemsmatricesspatial conservative congruence transformationgeometrical analysisstiffnessText