TY - GEN A1 - Maciejewski, Anthony A. A1 - Roberts, Rodney G. A2 - Tchoń, Krzysztof - ed. A2 - Gosiewski, Anatol - ed. PB - Zielona Góra: Uniwersytet Zielonogórski N2 - Kinematically redundant manipulators have been proposed for use in remote or hazardous environments due to their potential for tolerance to joint failures. This article defines a local measure of failure tolerance based on the worst-case dexterity following a locked joint failure. N2 - Optimal values of this measure are identified and related to the required structure of a Jacobian matrix. It is shown that it is trivial to derive manipulator configurations that correspond to the desired Jacobians with the single exception of a manipulator with seven rotational joints that is required to perform tasks which require fully general linear and rotational velocities of the end effector. L1 - http://www.zbc.uz.zgora.pl/Content/57686/AMCS_1995_5_2_7.pdf L2 - http://www.zbc.uz.zgora.pl/Content/57686 KW - sterowanie KW - sterowanie-teoria KW - sztuczna inteligencja KW - matematyka stosowana KW - informatyka T1 - On the existence of an optimally failure tolerant 7R manipulator Jacobian UR - http://www.zbc.uz.zgora.pl/dlibra/docmetadata?id=57686 ER -