2021
A Hybrid Approach for Estimating the Failure-Tolerant Workspace Size of Kinematically Redundant Robots
RA-L 2021
Previous work has shown that it is possible to guarantee a reachable workspace for a kinematically redundant robot after an arbitrary locked-joint failure if one artificially restricts the range of its joints prior to the failure. Identifying the optimal articial joint limits has been the subject of