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

<div>The screw motion of joints 2, 3, 4, and 5.</div>

International Journal of Aerospace Engineering

Figure 6: A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem 