An Algorithm to Design Redundant Manipulators of Optimally Fault-Tolerant Kinematic Structure
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DOI: 10.1109/lra.2020.3003282
Abstract: One measure of the global fault tolerance of a redundant robot is the size of its self-motion manifold. If this size is defined as the range of its joint angles, then the optimal self-motion manifold… read more here.
Keywords: size; motion manifold; kinematic structure; self motion ... See more keywords