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

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