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.003a.svgz" name="2679152.fig.003a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>End-effector position</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/ijae/volume-2019/2679152/figures/2679152.fig.003b.svgz" name="2679152.fig.003b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>End-effector attitude</td></tr></table>

<div>The variation of <svg height="15.8638pt" id="M516" style="vertical-align:-3.9436pt" version="1.1" viewbox="-0.0498162 -11.9202 49.3328 15.8638" width="49.3328pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M290 -163V-135C183 -126 181 -122 181 -44V583C181 662 184 666 290 675V703H120V-163H290Z"></path></g><g transform="matrix(.013,0,0,-0.013,4.485,0)"><path d="M494 0V32C450 38 426 53 393 105L296 260C330 305 354 338 375 361C411 396 421 401 476 410V442H293V410C332 402 337 394 323 371C311 351 295 324 274 293L227 371C213 393 218 402 252 410V442H16V410C70 402 80 391 108 344L196 199C166 159 140 123 115 95C81 54 61 43 7 32V0H196V32C156 41 150 53 167 81C182 105 199 138 219 166L269 79C287 49 283 38 245 32V0H494Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.908,-5.741)"><path d="M655 676H628C608 656 600 650 571 650H156C118 650 114 651 102 676H77C63 615 45 548 24 485L60 486C81 531 97 562 114 580C134 603 148 611 252 611H308L217 127C201 41 196 38 105 32L98 0H384L393 32C300 38 288 41 304 127L393 611H466C553 611 571 604 582 580C592 559 597 530 595 485L630 489C636 548 645 624 655 676Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.751,3.784)"><path d="M398 365C398 411 356 451 297 451C250 451 198 430 151 397C65 336 24 230 24 139C24 14 97 -12 148 -12C198 -12 284 7 373 104L355 130C306 84 246 53 198 53C132 53 111 109 111 163V189C209 211 398 261 398 365ZM317 351C317 308 273 262 117 225C134 338 189 383 221 399C230 404 249 407 263 407C295 407 317 389 317 351Z"></path></g><g transform="matrix(.013,0,0,-0.013,17.297,0)"><path d="M95 130C70 130 46 113 46 88C46 72 54 64 59 64C93 55 121 33 121 -3C121 -41 93 -68 44 -88L55 -117C117 -98 186 -56 186 22C186 91 131 130 95 130Z"></path></g><g transform="matrix(.013,0,0,-0.013,22.44,0)"><path d="M699 659C666 654 622 640 595 610C579 591 569 572 562 530L552 472C530 342 504 307 403 302V529C403 604 411 617 483 622V650H238V622C310 617 318 604 318 529V302C232 308 194 347 172 471L161 531C153 573 145 592 131 609C103 643 59 654 25 659L15 632C62 611 63 583 73 524L85 452C97 383 116 347 155 316C199 282 255 269 318 267V122C318 46 310 33 233 28V0H489V28C412 33 403 46 403 122V267C470 269 518 283 559 315C599 346 618 378 632 450L646 519C658 580 665 608 709 632L699 659Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,31.87,-5.741)"><path d="M655 676H628C608 656 600 650 571 650H156C118 650 114 651 102 676H77C63 615 45 548 24 485L60 486C81 531 97 562 114 580C134 603 148 611 252 611H308L217 127C201 41 196 38 105 32L98 0H384L393 32C300 38 288 41 304 127L393 611H466C553 611 571 604 582 580C592 559 597 530 595 485L630 489C636 548 645 624 655 676Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,30.76,3.784)"><path d="M398 365C398 411 356 451 297 451C250 451 198 430 151 397C65 336 24 230 24 139C24 14 97 -12 148 -12C198 -12 284 7 373 104L355 130C306 84 246 53 198 53C132 53 111 109 111 163V189C209 211 398 261 398 365ZM317 351C317 308 273 262 117 225C134 338 189 383 221 399C230 404 249 407 263 407C295 407 317 389 317 351Z"></path></g><g transform="matrix(.013,0,0,-0.013,38.259,0)"><path d="M226 -163V703H56V676C162 667 165 662 165 584V-43C165 -122 162 -126 56 -136V-163H226Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,42.744,-5.741)"><path d="M655 676H628C608 656 600 650 571 650H156C118 650 114 651 102 676H77C63 615 45 548 24 485L60 486C81 531 97 562 114 580C134 603 148 611 252 611H308L217 127C201 41 196 38 105 32L98 0H384L393 32C300 38 288 41 304 127L393 611H466C553 611 571 604 582 580C592 559 597 530 595 485L630 489C636 548 645 624 655 676Z"></path></g></svg> with execution of the trajectory tracking task.</div>

International Journal of Aerospace Engineering

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Figure 3

Figure 3: Kinematic and Dynamic Characteristics of the Free-Floating Space Manipulator with Free-Swinging Joint Failure 