Maciejewski, Anthony A., authorEnglish, James D., authorSage Publications, Inc., publisher2007-01-032007-01-032001English, James D. and Anthony A. Maciejewski, Failure Tolerance through Active Braking: A Kinematic Approach, International Journal of Robotics Research 20, no. 4 (April 2001): 287-299.http://hdl.handle.net/10217/627For a manipulator operating in a hazardous or remote environment, an important concern is its capability after a component failure, since retrieval or repair is not always possible. Methods have been presented in the literature for optimizing capabilities after specific types of failures. However, techniques for achieving failure tolerance when conversion between failure types is possible has not been fully explored. This paper presents an approach to improving postfailure performance by converting between locked-joint failures and free-swinging failures through active braking. When a manipulator is moved slowly, gravitational forces can be used to control the failed joint in free-swinging mode, allowing the problem to be cast as a kinematic one. The validity of the kinematic formulation and its implementation and global consequences are explored.born digitalarticleseng©2001, Sage Publications, 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.active brakingfree-swinging failurepassive jointfailure toleranceunderactuated manipulatorText