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

Table 6

Initial DH parameters of the 7-DOF space manipulator.

0	\	\	0	0
1	0	0.6	0	90
2	90	0.5	0	-90
3	0	0.5	5	0
4	0	0.5	5	0
5	0	0.5	0	90
6	-90	0.5	0	-90
7	0	0.6	\	\