Table 1: Fault repertory summarized.

Index of fault modeFaulty steering joint(s)Faulty configurationsAmplitude

F1Single joint6Full range (±90°)
F2Two joints15Full range (±90°)
F3Three joints20Full range (±90°)
F4Four joints15Full range (±90°)
F5Five joints6Full range (±90°)
F6Six joints1Full range (±90°)