Research Article
GA Based Adaptive Singularity-Robust Path Planning of Space Robot for On-Orbit Detection
Table 1
Linkage parameters of the space robot.
| Parameters | Carrier | Linkage 1 | Linkage 2 | Linkage 3 | Linkage 4 | Linkage 5 | Linkage 6 |
| Mass (kg) | 450.0 | 1.5 | 9.6 | 1.5 | 9.0 | 1.5 | 10.5 |
| (mm) | 0 | 0 | | | | | | 0 | 0 | | | | | | 0 | 124.0 | | | | | |
| (mm) | 500.0 | 0 | | | | | | 0 | 121.0 | | | | | | 751.0 | 0 | | | | | |
| Moment of inertia (kg/m2) | | | 200.00 | 3.31 × 10−3 | 3.10 × 10−2 | 3.31 × 10−3 | 0.73 | 3.31 × 10−3 | 0.10 | | 200.00 | 3.31 × 10−3 | 1.50 | 3.31 × 10−3 | 0.60 | 3.31 × 10−3 | 0.10 | | 200.00 | 3.31 × 10−3 | 1.48 | 3.31 × 10−3 | 0.63 | 3.31 × 10−3 | 0.09 | | 0 | 0 | 0 | 0 | 0 | 0 | 0 | | 0 | 0 | 0 | 0 | 0 | 0 | 0 | | 0 | 0 | 0 | 0 | −0.01 | 0 | 0 |
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