Forward Kinematic Model Resolution of a Special Spherical Parallel Manipulator: Comparison and Real-Time Validation

Forward Kinematic Model Resolution of a Special Spherical Parallel Manipulator: Comparison and Real-Time Validation

This paper deals with a special architecture of Spherical Parallel Manipulators (SPMs) designed to be a haptic device for a medical tele-operation system. This architecture is obtained by replacing the kinematic of one leg of a classical 3-RRR SPM (R for revolute joint). The Forward Kinematic Model...

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Bibliographic Details
Main Authors: Houssem Saafi, Med Amine Laribi, Said Zeghloul
Format: Article
Language:English
Published: MDPI AG 2020-08-01
Series:Robotics
Subjects:
spherical parallel manipulator
forward kinematic model
minimally invasive surgery
real-time
sensors
Online Access:https://www.mdpi.com/2218-6581/9/3/62

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