This paper suggests a method, called distributed voting, to overcome the problem of the single point of failure in a TMR system used in robotics and industrial control applications. It uses time redundancy and is based on TMR with disagreement detector feature. This method masks faults occurring in the voter where the TMR system can continue its function properly. The method has been evaluated by injecting faults into Vertex2Pro and Vertex4 Xilinx FPGAs. An analytical evolution is also performed. The results of both evaluation approaches show that the proposed method can improve the reliability and the mean time to failure (MTTF) of a TMR system by at least a factor of (2 R_v (t)) where R_v (t) is the reliability of the voter.