2020
An Algorithm to Design Redundant Manipulators of Optimally Fault-Tolerant Kinematic Structure
RA-L 2020
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 size for an n-degree-of-freedom (DoF) robot is n × 2π, which is not typical for existing robot desig