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

Table 1

Symbols annotations of the halt.

Symbols	Annotations
	The initial time of the halt
	The end time of the halt
	The time during the halt
	The configuration when the time is
	The joint velocity when the time is
	The joint acceleration when the time is
	The disturbance torque of the base in the halt process
	The initial state of the halt,
	The end state of the halt, and ,
	The parameters of the manipulator in the halt process,
	The constraint of the halt,