International Journal of Aerospace Engineering / 2020 / Article / Tab 3

Research Article

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 valueCondition numberManipulability

MeaningThe degree to which the manipulator approaches the singular configurationThe 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 analysisThe 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.

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