Table 2: The dynamic parameters of the space robot.
|
Base |
Link 1 |
Link 2 |
Link 3 |
Link 4 |
Link 5 |
Link 6 |
|
m/kg |
600 |
6.3 |
6.9 |
8.9 |
11 |
4.7 |
4.9 |
|
|
Ixx |
75 |
0.004 |
0.004 |
0.46 |
0.95 |
0.003 |
0.02 |
Iyy |
74 |
0.006 |
0.006 |
0.47 |
0.94 |
0.005 |
0.02 |
|
Izz |
74 |
0.004 |
0.008 |
0.01 |
0.008 |
0.003 |
0.015 |
|
Ixy |
0.25 |
0 |
-0.001 |
0 |
0 |
0 |
0 |
|
Ixz |
0.32 |
0 |
0 |
0 |
0 |
0 |
0 |
|
Iyz |
0.19 |
0 |
0 |
-0.03 |
-0.02 |
0 |
0 |
|
|
|
0 |
0.03 |
0 |
0 |
0 |
0 |
|
|
|
0 |
0 |
0.01 |
-0.425 |
0.01 |
0 |
|
|
|
0.065 |
-0.055 |
0.325 |
0.13 |
-0.05 |
0.04 |
|
|
|
-0.35 |
0 |
-0.03 |
0 |
0 |
0 |
0 |
|
-0.35 |
0 |
0 |
-0.01 |
-0.45 |
-0.01 |
0 |
|
0.4 |
0.05 |
-0.06 |
0.45 |
0.11 |
-0.065 |
0.075 |