| Abstract: | A reverse analysis of a 6 degree of freedom (dof) subchain of a modified 7 dof flight telerobotic servicer (FTS) manipulator system is presented. The 6 dof subchain is designated as a TR-RT* chain. At the outset, it was considered that the reverse analysis would be similar to a TTT manipulator analyzed previously for which the third and fourth joints intersect at a finite point. This was not, however, the case and a sixteenth-degree tan-half-angle polynomial was derived for the TR-RT manipulator. The elimination procedure is interesting and much simpler than the procedures for the general case. |
