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Mapping Tasks into Fault Tolerant Manipulators
(Georgia Institute of Technology, 1994-05)
The application of robots in critical missions in hazardous environments requires the development of reliable or fault tolerant manipulators. In this paper, we define fault tolerance as the ability to continue the performance ...
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 ...