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    Fundamental Limitations on Designing Optimally Fault-Tolerant Redundant Manipulators
    13 years 4 months ago
    Fundamental Limitations on Designing Optimally Fault-Tolerant Redundant Manipulators
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    Abstract--In this paper, the authors examine the problem of designing nominal manipulator Jacobians that are optimally fault tolerant to one or more joint failures. Optimality is d...
    Rodney G. Roberts, Hyun Geun Yu, Anthony A. Maciej...
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