Closed Form Analytical Solution for Inverse Kinematics of LERS Arm

The paper presents a closed-form analytical solution for the inverse kinematics (IK) of the 6 Degrees of Freedom (DOF) serial robotic manipulator arm, equipped with 6 revolute joints, used in the Lunar Exploration Rover System (LERS). This robotic arm is a critical component designed for precise operations in the challenging lunar environment. The inverse kinematics problem is essential for calculating the joint parameters required to position the end-effector accurately, enabling tasks such as sample collection, infrastructure assembly, and equipment deployment. By leveraging geometric principles, this method provides a computationally efficient and accurate solution to the inverse kinematics challenge, eliminating the computational overhead typical of numerical methods. The proposed solution offers significant improvements in real-time operation, especially for space robotics applications where precision and speed are paramount. The paper also discusses the integration of the LERS robotic system, emphasizing the importance of this work in advancing autonomous lunar exploration under the ARTEMIS program and beyond.