English, James D., authorMaciejewski, Anthony A., authorIEEE, publisher2007-01-032007-01-031997English, James D. and Anthony A. Maciejewski, Euclidean-Space Measures of Robotic Joint Failures, Proceedings of 1997 IEEE International Conference on Robotics and Automation, April 20-25, 1997, Albuquerque, New Mexico: 2894-2901.http://hdl.handle.net/10217/1218Robotic joint failures are directly characterized and measured in joint space. A locking failure, for example, is one for which a joint cannot move, and it gives an error equal to the desired value minus the locked value. This article extends the joint-space characterization to Euclidean space by measuring a failure's effect there. The approach is based on a primitive measure of point error that can be defined to be distance or path length. It is used to form comprehensive measures through weighted integration over Euclidean-space regions. For kinematically redundant manipulators, minimizing the measures can be used to induce failure tolerance by either reducing the likelihood of collision-induced damage before a failure or reducing end-effector error after a failure. Examples for both cases are given.born digitalproceedings (reports)eng©1997 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.redundancymanipulator kinematicsText