@article{Abdi2012242,
title = "Well-conditioned configurations of fault-tolerant manipulators",
journal = "Robotics and Autonomous Systems",
volume = "60",
number = "2",
pages = "242 - 251",
year = "2012",
note = "",
issn = "0921-8890",
doi = "10.1016/j.robot.2011.10.008",
url = "http://www.sciencedirect.com/science/article/pii/S0921889011002041",
author = "Hamid Abdi and Saeid Nahavandi",
keywords = "Redundant manipulators",
keywords = "Condition number",
keywords = "Optimal fault tolerance",
keywords = "Actuator failure",
keywords = "Isotropic manipulators",
keywords = "Singular value optimization"
}