Halt Optimization Strategy for a Space Manipulator with a Joint-Locked Failure

Figure 7

The simulation results of CP which are in the form of a 2-dimensional planar graph. (a) The angle of joint 1—CP. (b) The angle of joint 2—CP. (c) The angle of joint 3—CP. (d) The angle of joint 5—CP. (e) The angle of joint 6—CP. (f) The angle of joint 7—CP.

(a)

(b)

(c)

(d)

(e)

(f)