Research Article
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/kgm2 | | | | | | |
| 0 | 100.2 | ā | ā | 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 |
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