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

Figure 2

Typical SSRMS-type space manipulators.

(a) SSRMS (courtesy NASA)

(b) EMM of CSSRMS [13]

(c) SPDM (courtesy NASA)

(d) ERA (courtesy ESA)