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Global Trajectory Planning for Fault Tolerant Manipulators
(Georgia Institute of Technology, 1995-08)
Whether a task can be completed after a failure of one of the degrees-of-freedom of a redundant manipulator depends on the joint angle at which the failure takes place. It is possible to achieve fault tolerance by globally ...
Designing Fault Tolerant Manipulators: How Many Degrees-of-Freedom?
(Georgia Institute of Technology, 1996)
One of the most important parameters to consider when designing a manipulator is the number of degrees-of-freedom (DOFs). This article focuses on the question: How many DOFs are necessary and sufficient for fault tolerance ...
An Approach for Mapping Kinematic Task Specifications Into a Manipulator Design
(Georgia Institute of Technology, 1991)
The Reconfigurable Modular Manipulator System, (RMMS) consists of modular links and joints which can be assembled into many manipulator configurations. This capability allows the RMMS to be rapidly reconfigured in order ...