Research Article
A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem
Table 2
The eight sets of solutions for locking the first joint.
| | No. | (°) | (°) | (°) | (°) | (°) | (°) | (°) |
| | 1 | 30 | -84.6327446802879 | 135.936469380010 | -49.5026276247550 | 52.8462511448701 | 130.991940778053 | -108.457688216213 | | 2 | 30 | -84.6327446802879 | 88.5675124089909 | 49.5026276247550 | 1.20995286637878 | 130.991940778053 | -108.457688216213 | | 3 | 30 | -84.6327446802879 | 159.151456789031 | -68.0612040974591 | -131.810159791447 | -130.991940778053 | 71.5423117837873 | | 4 | 30 | -84.6327446802879 | 94.2150692495295 | 68.0612040974592 | 157.003819553136 | -130.991940778053 | 71.5423117837873 | | 5 | 30 | 60.0000000000000 | 77.8419290875575 | -49.9999999999999 | 52.1580709124424 | 30.0000000000000 | 22.5000000000000 | | 6 | 30 | 60.0000000000000 | 30.0000000000000 | 50.0000000000000 | 0. 0000000000000 | 30.0000000000000 | 22.5000000000000 | | 7 | 30 | 60.0000000000000 | 100.714460683408 | -67.6513565340774 | -133.063104149330 | -30.0000000000000 | -157.500000000000 | | 8 | 30 | 60.0000000000000 | 36.1638929853303 | 67.6513565340774 | 156.184750480592 | -30.0000000000000 | -157.500000000000 |
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