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

Table 4

Scale definitions of 1-7 scale method.

Scale	Definition
1	is just as important as
3	is slightly more important than
5	is more important than
7	is even more important than
2,4,6	The importance lies between adjacent scales
Reciprocal	If the ratio of and is , the ratio of and is