On the local fault tolerance of a kinematically redundant manipulator

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199610)13:10<649::AID-ROB2>3.0.CO;2-V" /><649::AID-ROB2>3.0.CO;2-V 10.1002/(SICI)1097-4563(199610)13:10<649::AID-ROB2>3.0.CO;2-VzbMath0882.70007OpenAlexW1985506734MaRDI QIDQ4347319

R. G. Roberts

Publication date: 11 March 1998

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199610)13:10<649::aid-rob2>3.0.co;2-v

zbMATH Keywords

singularitiesjoint failureslocally fault intolerant configurationsnull space of manipulator Jacobian

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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