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

Table 2

D-H parameters of a space-based manipulator system.

Link number	/rad	/rad	/m	/m
0	0	0	1.3	0
1		0	1.02	0.433
2		0	1.02	0.433
3		0	1.02	0.433
4		0	1.02	0.433
5	0	124/180π	0.81	0.548
6	0	0	0.808	0