Joint Trajectory Planning of Space Modular Reconfigurable Satellites Based on Kinematic Model

Table 1

Kinematic and dynamic symbols of SRMS.

Symbols	Representation
	The inertia coordinate system
	Base coordinate system
	The center of mass coordinate system of
	The center of mass coordinate system of
	Center of mass of SMRS
	The center of mass of
	Position vectors from to
	Position vectors from to
	The position vector of based on
	The position vector of based on
	The unit vector representing the rotation direction of
	The linear velocity and angular velocity of
	The linear velocity and angular velocity of
	The actual joint angle vector of arm-
	The desired joint angle vector of arm-
	The mass of
	The mass of
	Total mass of the system
	The inertia matrices of referred to
	The inertia matrices of referred to
	identity matrix
	The angle of