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Table 1 D-H parameter of the manipulator

From: Kinematic analysis and fault-tolerant trajectory planning of space manipulator under a single joint failure

i

a i−1/mm

α i−1/°

d i /mm

θ i /°

1

0

−90

0

90

2

a2

0

0

0

3

0

90

0

90

4

0

−90

d 4

0

5

0

90

0

0

6

0

0

d 6

0