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

Table 2

D-H parameters of SMRS.

D-H parameters of the side					D-H parameters of the side
Link	(deg)	(m)	(deg)	(m)	Link	(deg)	(m)	(deg)	(m)
1	0	0	0	0	v^1-0	90	0	90	0
2	90	0	90	0.198	1-v	0	-0.243	90	0
3	-90	0.243	90	0	2	90	0	90	0
4	-90	0	-90	0	3	-90	0	90	-0.198
5	90	0	90	0.198	4	-90	-0.243	-90	0
6	-90	0.243	90	0	5	90	0	90	0
7	-90	0	-90	0	6	-90	0	90	-0.198
8	90	0	90	0.198	7	-90	-0.243	-90	0
9	-90	0.243	90	0	8	90	0	90	0
10	-90	0	-90	0	9	-90	0	90	-0.198
11	90	0	90	0.198	10	-90	-0.243	-90	0
12	-90	0.243	90	0	11	90	0	90	0
—	—	—	—	—	12	-90	0	90	-1.32

¹v represents virtual joints.