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

Table 3

The unilateral kinematic ability of the space manipulator with a joint-locked failure.

	Minimum singular value	Condition number	Manipulability
Expression
Meaning	The degree to which the manipulator approaches the singular configuration	The condition number reflects the isotropy of the manipulator’s kinematic ability in all directions.	The measure of the end-effector’s kinematic ability when manipulator moves in different directions
Value range
Value analysis	The smaller the minimum singular value is, the closer the configuration is to the singular configuration.	The closer the condition number is to 1, the higher the dexterity of the manipulator is.	The bigger degenerate manipulability is, the greater kinematic ability of the end-effector in all directions is.