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1、AKinematicAnalysisoftheSpaceStationRemoteManipulatorSystem(SSRMS)CarlD.Crane111andJosephDuffyCenterforIntelligentMachinesandRoboticsDepartmentofMechanicalEngineeringUniversityofFloridaGainesville,FL32611-2050TimCarnahanNASAGoddardSpaceflightCenterGreenbelt,MD20771ReceivedApril19,1990;acce
2、ptedSeptember22,1990Anefficientreverseanalysisofthree6-degree-of-freedom(dof)subchainsofthe7-dofSSRMSispresented.Thefirstsubchainisformedbylockingtheseventhjoint.Thesecondsubchainisformedbylockingthesecondjoint,whilethethirdsubchainisformedbylockingthefirstjoint(thegroundedjointiscounteda
3、sthefirstjointinthechain).Thereareamaximumofeightdifferentarmconfigurationsineachofthethreesubchains,andtheseweredeterminedbyemployingacomputer-efficientalgorithm,whichrequiredtherootingofonlyatmostquadraticpolynomials.Thealgorithmswereimplemented,andtheSSRMSwasemployedinananimatedenviron
4、menttoperformandpracticeanumberofusefultasksforspacestationservicing.Thelockingofthesecondjointhastheadvantageinthatanoperatorcould,attheoutset,choosetheorientationoftheplanethatcontainsthetwolongestlinks(theupperarmandforearm)soastoavoidcollisionswithobstacles.However,ithasthedisadvantag
5、ethatwhenthesecondjointangleequals0"or180",themanipulatorisinasingularityconfiguration(asingularityanalysisoftheSSRMSispresentedinasecondarticle).Itisinterestingtonotethatthisplanecanalsobeorientedbyspecifyingthefirstjointangle.Thishasthedistinctadvantagethattheplanecanbeorientedarbitrari
6、lyand,inthisway,thesingu-larityisavoided.JournalofRoboticSystems8(5),637-658(1991).01991byJohnWiley&Sons,Inc.CCC0741-2223/91/050637-22$04.00638JournalofRoboticSystems-1991N0113flClOtllNIINTRODUCTIONTheanalysisofsingle-loopspatialmechanismsofmobilityonehasbeenatopicofmanypapers,whichweresu
7、rveyedRooneybyandDuffy,’andlaterbyDuffy.2Morerecently,LeeandLiang3werethefirsttoderivea16-degreepolynomialinthetan-halfangleofoneofthejointvariablesforthegeneral7-link,7Rmechanism(Rdenotesarevolutepair).Mostrecently,RaghavanandRoth4produceda16-degreepolynomialforthe
