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.hindawi.com/articles/ijae/volume-2021/6690696/figures/6690696.fig.0010a.svgz" name="6690696.fig.0010a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Initial pose</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/ijae/volume-2021/6690696/figures/6690696.fig.0010b.svgz" name="6690696.fig.0010b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Target pose of the linear trajectory</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/ijae/volume-2021/6690696/figures/6690696.fig.0010c.svgz" name="6690696.fig.0010c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Target pose of the spline curve trajectory</td></tr></table>

<div>Motion planning simulation cases.</div>

International Journal of Aerospace Engineering

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Figure 10

Figure 10: A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem 