Roberts, Rodney G., authorMaciejewski, Anthony A., authorTechnical University of Zielona Góra, publisher2007-01-032007-01-031995Maciejewski, Anthony A. and Rodney G. Roberts, On the Existence of an Optimally Failure Tolerant 7R Manipulator Jacobian, Applied Mathematics and Computer Science 5, no. 2 (1995): 343-357.http://hdl.handle.net/10217/67348Kinematically redundant manipulators have been proposed for use in remote or hazardous environments due to their potential for tolerance to joint failures. This article defines a local measure of failure tolerance based on the worst-case dexterity following a locked joint failure. Optimal values of this measure are identified and related to the required structure of a Jacobian matrix. It is shown that it is trivial to derive manipulator configurations that correspond to the desired Jacobians with the single exception of a manipulator with seven rotational joints that is required to perform tasks which require fully general linear and rotational velocities of the end effector.born digitalarticleseng©1995 Technical University of Zielona Góra.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.rotational manipulatorsrobotic systemsfailure toleranceText