Research Article
A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem
Table 3
The eight sets of solutions for locking the second joint.
| | No. | (°) | (°) | (°) | (°) | (°) | (°) | (°) |
| | 1 | -129.239754823904 | 45 | 162.018988544233 | -52.260284762302660 | 31.003837249502922 | 104.505649369635 | -142.495639227140 | | 2 | -129.239754823904 | 45 | 112.028927802159 | 52.260284762302774 | -23.5266715330279 | 104.505649369635 | -142.495639227140 | | 3 | -129.239754823904 | 45 | 174.819256106276 | -48.2841313736117 | -165.772583701231 | -104.505649369635 | 37.5043607728603 | | 4 | -129.239754823904 | 45 | 128.609425992290 | 48.2841313736117 | 143.868983665532 | -104.505649369635 | 37.5043607728603 | | 5 | 30.0000000000000 | 45 | 50.0000000000000 | -45.0000000000000 | 40.0000000000000 | 60.0000000000000 | 22.5000000000000 | | 6 | 30.0000000000000 | 45 | 6.91702734831439 | 45.0000000000000 | -6.91702734831438 | 60.0000000000000 | 22.5000000000000 | | 7 | 30.0000000000000 | 45 | 69.3878143138167 | -55.2214803970355 | -149.166333916781 | -60.0000000000000 | -157.500000000000 | | 8 | 30.0000000000000 | 45 | 16.5868237018376 | 55.2214803970355 | 153.191695901127 | -60.0000000000000 | -157.500000000000 |
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