A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem
Space manipulators which have a similar symmetrical structure with seven revolute joints, such as the space station remote manipulator system (SSRMS), can be called SSRMS-type space manipulators. The analytical inverse kinematics of an SSRMS-type manipulator can be solved by locking a single joint;...
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2021/6690696 |
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| _version_ | 1832563225158221824 |
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| author | Yecong Wang Xilun Ding Zixin Tang Chengwei Hu Qingqing Wei Kun Xu |
| author_facet | Yecong Wang Xilun Ding Zixin Tang Chengwei Hu Qingqing Wei Kun Xu |
| author_sort | Yecong Wang |
| collection | DOAJ |
| description | Space manipulators which have a similar symmetrical structure with seven revolute joints, such as the space station remote manipulator system (SSRMS), can be called SSRMS-type space manipulators. The analytical inverse kinematics of an SSRMS-type manipulator can be solved by locking a single joint; the locked joint (joint 1, 2, 6, or 7) can be determined by configuration analysis. Although widely used in establishing the kinematics of SSRMS-type manipulators, the Denavit-Hartenberg (DH) method has a singular problem when two adjacent joint axes are nearly parallel. To avoid this problem, this paper proposes a novel analytical inverse kinematics method for SSRMS-type manipulators based on the product of exponentials (POE) formula and the Paden-Kahan subproblem. Because of the symmetrical structure, an SSRMS-type manipulator degrades to two kinds of 6-degree-of-freedom (DOF) manipulators when locking a single joint (joint 1, 2, 6, or 7). The analytical inverse kinematics of these two kinds of 6-DOF manipulators is solved by combining the Paden-Kahan subproblems and geometric and algebraic methods, respectively. The proposed approach is not only singularity free compared with the traditional DH-based methods but also more accurate than the POE-based numerical solution. The simulation results verify the efficiency of the proposed approach. |
| format | Article |
| id | doaj-art-7c935a8f880f4832a2d6a1b82450a79c |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-7c935a8f880f4832a2d6a1b82450a79c2025-02-03T01:20:44ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742021-01-01202110.1155/2021/66906966690696A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan SubproblemYecong Wang0Xilun Ding1Zixin Tang2Chengwei Hu3Qingqing Wei4Kun Xu5Robotics Institute, Beihang University, Beijing 100083, ChinaRobotics Institute, Beihang University, Beijing 100083, ChinaBeijing Institute of Spacecraft System Engineering, Beijing 100094, ChinaBeijing Institute of Spacecraft System Engineering, Beijing 100094, ChinaBeijing Institute of Spacecraft System Engineering, Beijing 100094, ChinaRobotics Institute, Beihang University, Beijing 100083, ChinaSpace manipulators which have a similar symmetrical structure with seven revolute joints, such as the space station remote manipulator system (SSRMS), can be called SSRMS-type space manipulators. The analytical inverse kinematics of an SSRMS-type manipulator can be solved by locking a single joint; the locked joint (joint 1, 2, 6, or 7) can be determined by configuration analysis. Although widely used in establishing the kinematics of SSRMS-type manipulators, the Denavit-Hartenberg (DH) method has a singular problem when two adjacent joint axes are nearly parallel. To avoid this problem, this paper proposes a novel analytical inverse kinematics method for SSRMS-type manipulators based on the product of exponentials (POE) formula and the Paden-Kahan subproblem. Because of the symmetrical structure, an SSRMS-type manipulator degrades to two kinds of 6-degree-of-freedom (DOF) manipulators when locking a single joint (joint 1, 2, 6, or 7). The analytical inverse kinematics of these two kinds of 6-DOF manipulators is solved by combining the Paden-Kahan subproblems and geometric and algebraic methods, respectively. The proposed approach is not only singularity free compared with the traditional DH-based methods but also more accurate than the POE-based numerical solution. The simulation results verify the efficiency of the proposed approach.http://dx.doi.org/10.1155/2021/6690696 |
| spellingShingle | Yecong Wang Xilun Ding Zixin Tang Chengwei Hu Qingqing Wei Kun Xu A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem International Journal of Aerospace Engineering |
| title | A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem |
| title_full | A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem |
| title_fullStr | A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem |
| title_full_unstemmed | A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem |
| title_short | A Novel Analytical Inverse Kinematics Method for SSRMS-Type Space Manipulators Based on the POE Formula and the Paden-Kahan Subproblem |
| title_sort | novel analytical inverse kinematics method for ssrms type space manipulators based on the poe formula and the paden kahan subproblem |
| url | http://dx.doi.org/10.1155/2021/6690696 |
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