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

Table 2

Dynamic parameters of SSRMS-type 7 DOF space manipulator.

Joint no.	Link mass (kg)	Link inertia (kg·m^2)	Link centroid position (m)
0	10^6	Diag[10^6, 10^6, 10^6]	[0, 0, 0]
1	42.5	Diag[0.8854, 0.0531, 0.8854]	[0, 0.25, 0]
2	42.5	Diag[0.8854, 0.0531, 0.8854]	[0, 0.25, 0]
3	70	Diag[0.0875, 145.8333, 145.8333]	[2.5, 0, 0]
4	70	Diag[0.0875, 145.8333, 145.8333]	[2.5, 0, 0]
5	42.5	Diag[0.8854, 0.8854, 0.0531]	[0, 0, 0.25]
6	42.5	Diag[0.8854, 0.8854, 0.0531]	[0, 0, 0.25]
7	42.5	Diag[1.2750, 1.2750, 0.0531]	[0, 0, 0.55]