@article{ben-gharbia_maciejewski_roberts_2013, title={Kinematic Design of Redundant Robotic Manipulators for Spatial Positioning that are Optimally Fault Tolerant}, volume={29}, DOI={10.1109/tro.2013.2266855}, number={5}, journal={IEEE Transactions on Robotics}, author={Ben-Gharbia, Khaled M. and Maciejewski, Anthony A. and Roberts, Rodney G.}, year={2013}, pages={1300–1307}}