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

<div>The reconstructed 6-DOF manipulator for locking the 1st joint.</div>

International Journal of Aerospace Engineering

Figure 5: A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem 