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/m^2)
	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