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

Table 7

The dynamic parameters of the 7-DOF space manipulator.

1	42.5	[0.89, 0.05, 0.89]	[0, 0.25, 0]^T
2	42.5	[0.05, 0.89, 0.89]	[0, 0.25, 0]^T
3	70	[0.088, 145.83, 145.83]	[2.5, 0, 0]^T
4	70	[0.088, 145.83, 145.83]	[2.5, 0, 0]^T
5	42.5	[0.89, 0.89, 0.05]	[0, 0, -0.25]^T
6	42.5	[0.89, 0.89, 0.05]	[0, 0, -0.25]^T
7	42.5	[1.28, 1.28, 0.05]	[0, 0, -0.3]^T