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

Table 1

Kinematic parameters of SSRMS-type 7 DOF space manipulator.

Joint no.	Torsion angle (°)	Link length (m)	Joint angle (°)	Link offset (m)
1	0	0	180	1.1
2	−90	0	−90	0.5
3	−90	0	0	0.5
4	0	5	0	0.5
5	0	5	0	0.5
6	90	0	90	0.5
7	90	0	180	1.1