Trajectory Optimization for Velocity Jumps Reduction considering the Unexpectedness Characteristics of Space Manipulator Joint-Locked Failure

Table 1

DH parameters of space manipulator.

	(°)	(m)	(m)	(°)
1	0	0.6	0	90
2	90	0.5	0
3	0	0.5		0
4	0	0.5		0
5	0	0.5	0	90
6		0.5	0
7	0	0.6	0	0