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

Table 1

The kinematics parameters of an SSRMS-type manipulator.

No.	Axis direction	Position	The initial pose of the end effector
1			, where and
2
3
4
5
6
7