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.0013a.svgz" name="2679152.fig.0013a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Active joint angle</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/ijae/volume-2019/2679152/figures/2679152.fig.0013b.svgz" name="2679152.fig.0013b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Active joint acceleration</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/ijae/volume-2019/2679152/figures/2679152.fig.0013c.svgz" name="2679152.fig.0013c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Active joint torque</td></tr></table>

<div>The variations of active joint motion and torque.</div>

International Journal of Aerospace Engineering

fig13

Figure 13

Figure 13: Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure 