International Journal of Aerospace Engineering

Research Article

Design and Ground Verification of Space Station Manipulator Control Method for Orbital Replacement Unit Changeout

Table 2

DH parameters of the manipulator.
Link (mm) (mm)
10°0 (0°)0
2−90°0 (90°)178.85
3−90°0 (−90°)0
40°560 (0°)−174
50°385 (−90°)0
6−90°0 (0°)0
70°00466.15