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

Table 4

Kinematic and dynamic coupling indexes with the fourth and seventh joints locked.

	Local value			Global value
	Single	Maximum	Minimum
			0
	0.1338	2.0813	0.0025	0.1471
			0
	0.5825	145.4495	0.0072	8.0662
	0		0	0
	0.0078	968.7484		13.3688
	0		0	0