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Search: authors:"Zonggao Mu"

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

A space manipulator plays an important role in spacecraft capturing, repairing, maintenance, and so on. However, the harsh space environment will cause its joints fail to work. For a non-redundant manipulator, single joint locked failure will cause it to lose one degree of freedom (DOF), hence reducing its movement ability. In this paper, the key problems related to the ...