A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/ijae/volume-2021/6690696/figures/6690696.fig.0011a.svgz" name="6690696.fig.0011a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Position error</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/ijae/volume-2021/6690696/figures/6690696.fig.0011b.svgz" name="6690696.fig.0011b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Orientation error</td></tr></table>

<div>The mean position and orientation errors in the motion planning cases.</div>

International Journal of Aerospace Engineering

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Figure 11

Figure 11: A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem 