Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/ijae/volume-2019/2679152/figures/2679152.fig.0012a.svgz" name="2679152.fig.0012a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Passive joint acceleration</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/ijae/volume-2019/2679152/figures/2679152.fig.0012b.svgz" name="2679152.fig.0012b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Passive joint angle</td></tr></table>

<div>The motion of passive joints with the PD controller.</div>

International Journal of Aerospace Engineering

fig12

Figure 12

Figure 12: Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure 