Path Planning for a Space-Based Manipulator System Based on Quantum Genetic Algorithm

Table 1

Geometrical and inertial parameters of a system.

Number	Mass/kg	Length/m		Inertia tensor/kgm^2
				0	100.2	—	—	10.12	10.05	9.88	0	0	0
	1.3
1	10.1		0.554	1.012	0.099	0.102	0	0	0
			0.554
2	10.3		0.554	1.012	0.099	0.102	0	0	0
			0.554
3	9.5		0.554	1.012	0.099	0.102	0	0	0
			0.554
4	9.8		0.554	1.012	0.099	0.102	0	0	0
			0.554
5	9.9		0.489	1.01	0.110	0.103	0	0	0
			0.489
6	7.5		0.412	0.808	0.1	0.099	0	0	0
			0.412