Research Article
Trajectory Optimization for Velocity Jumps Reduction considering the Unexpectedness Characteristics of Space Manipulator Joint-Locked Failure
Table 3
Analysis of velocity jump and acceleration with compensation for each joint.
| | Joint | Velocity jump before compensation (rad/s) | Acceleration before compensation (rad/s2) | Velocity jump after compensation (rad/s) | Acceleration after compensation (rad/s2) | Reduction rate of velocity jump |
| | 1 | | | | | | | 2 | | | | | | | 3 | | | | | | | 4 | | | | | | | 5 | | | | | | | 6 | | | | | | | 7 | 0 | 0 | 0 | 0 | 0 | | Objective function | | | | | |
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