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publisher: Elsevier articletitle: Hypervelocity impact in low earth orbit: finding subtle impactor signatures on the Hubble Space Telescope journaltitle: Procedia Engineering articlelink: http://dx.doi.org/10.1016/j.proeng.2017.09.746 content_type: article copyright: © 2017 The Author(s). Published by Elsevier Ltd.0000-0002-6395-889

This paper presents an analytical inverse kinematic (IK) solution for the seven degree-of-freedom (7-DOF) "Restore" robot arm with non-zero joint offsets. We provide two closed-form solutions -the shoulder-elbow-wrist (SEW) IK and the θ 1 -based solution. Both allow self-motion and together they solve the problem of algorithmic singularities within the workspace. Non-zero link offsets require careful selection of shoulder, elbow, and wrist locations. The solution is simple, fast and exact, providing full solution space (i.e. all eight solutions) per pose.

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