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

Table 2

Symbols annotations of n-DOF space manipulator without a joint-locked failure.

Symbols	Annotations
	Inertial coordinate frame
	Base coordinate system
	End-effector coordinate system
	The coordinate system of the link ()
	Centroid of the link ()
	The joint connected link and link ()
	The vector from to , and
	The vector from to ()
	The vector from to ()
	The vector from to the end-effector
	The unit vector in the axis direction in
	The mass of the link ()
	The mass of the base
	The total mass of the system
	The inertia tensor of link ()
	The inertia tensor of base
	The joint angle of joint ()
	The position vector of joint angle in joint space,
	The position vector of centroid of base in inertial frame
	The position vector of centroid of in inertial frame ()
	The position vector of the end-effector
	The position vector of ()
	The pose vector of the base,
	The orientation vector of the base
	The velocity of the base
	The pose vector of the end-effector,
	The orientation vector of the end-effector
	The velocity of the centroid of base
	The velocity of the centroid of link ()
	The velocity of the end-effector
	The angular velocity of the base
	The angular velocity of the link
	The angular velocity of the end-effector