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    Fundamental Limitations on Designing Optimally Fault-Tolerant Redundant Manipulators
    14 years 10 days 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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