Table 2 Quality characteristics of space manipulator
From: Obstacle avoidance planning of space manipulator end-effector based on improved ant colony algorithm
| Â | B 0 | B 1 | B 2 | B 3 | B 4 | B 5 | B 6 | B 7 |
|---|---|---|---|---|---|---|---|---|
m (kg) | 1146.342 | 3.692 | 60.416 | 3.678 | 35.654 | 3.461 | 2.624 | 0.114 |
l (m) | 0.85 | 0.13 | 1.5 | 0.12 | 1.24 | 0.22 | 0.07 | 0.01 |
I xx (kg m2) | 291.077 | 0.013 | 13.556 | 0.012 | 1.235 | 0.061 | 0.066 | 0 |
I yy (kg m2) | 536.263 | 0.005 | 2.274 | 0.010 | 7.309 | 0.028 | 0.004 | 0 |
I zz (kg m2) | 669.647 | 0.015 | 15.756 | 0.005 | 6.104 | 0.035 | 0.004 | 0 |