Singularity Analysis of Redundant Space Robot with the Structure of Canadarm2

Table 2

The corresponding parameters of virtual manipulator of the space robotic system.

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Mass/kg	𝑚0	𝑚1	𝑚2	𝑚3	𝑚4	𝑚5	𝑚6	𝑚7
𝑎𝑖/m		(𝑚0+𝑚1)𝑎2𝑀	∑^2𝑘=0𝑚𝑘𝑐2𝑀	∑^3𝑘=0𝑚𝑘𝑑2𝑀	∑^4𝑘=0𝑚𝑘𝑒2𝑀	∑^5𝑘=0𝑚𝑘𝑓2𝑀	∑^6𝑘=0𝑚𝑘ℎ2𝑀	∑^7𝑘=0𝑚𝑘𝑘2𝑀
𝑏̂𝑖/m	𝑚0𝑙𝑀	(𝑚0+𝑚1)𝑎2𝑀	∑^2𝑘=0𝑚𝑘𝑐2𝑀	∑^3𝑘=0𝑚𝑘𝑑2𝑀	∑^4𝑘=0𝑚𝑘𝑒2𝑀	∑^5𝑘=0𝑚𝑘𝑓2𝑀	∑^6𝑘=0𝑚𝑘ℎ2𝑀	∑^7𝑘=0𝑚𝑘𝑘2𝑀