@INPROCEEDINGS{6083888, 
author={Abdi, H. and Nahavandi, S. and Frayman, Y.}, 
booktitle={Systems, Man, and Cybernetics (SMC), 2011 IEEE International Conference on}, title={A class of optimal fault tolerant Jacobian for minimal redundant manipulators based on symmetric geometries}, 
year={2011}, 
month={oct.}, 
volume={}, 
number={}, 
pages={1532 -1537}, 
keywords={minimal redundant manipulators;null space;optimal fault tolerant Jacobian matrix;optimal fault tolerant manipulators;symmetric geometries;worst-case dexterity;Jacobian matrices;dexterous manipulators;fault tolerance;redundant manipulators;}, 
doi={10.1109/ICSMC.2011.6083888}, 
ISSN={1062-922X},}