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Simulation results of the six-link planar redundant robot manipulator with its end-effector tracking the given square path synthesized by different-level simultaneous minimization scheme (Equations 6–12) and with the first joint being faulty from on t = 15 s. (A) Desired square-path and actual end-effector trajectory. (B) Corresponding tracking position-error profiles. (C) Joint-torque profiles. (D) Joint-angle profiles. (E) Joint-velocity profiles. (F) Joint-acceleration profiles.
