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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 ...
Fault Tolerant Task Execution through Global Trajectory Planning
(Georgia Institute of Technology, 1996)
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 ...