Research Article
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) |