Forward kinematic model of a new spherical parallel manipulator used as a master device
by Houssem Saafi; Med Amine Laribi; Said Zeghloul; Marc Arsicault
International Journal of Mechanisms and Robotic Systems (IJMRS), Vol. 3, No. 2/3, 2016

Abstract: The paper discusses the forward kinematic model (FKM) of a special spherical parallel manipulator (SPM). The special SPM is obtained by modifying one leg of a classic SPM in order to eliminate the singularity from its workspace. The SPM is used as master device for medical teleoperation system. The FKM of the new SPM is solved and improved using an extra sensor to work in real time.

Online publication date: Fri, 23-Dec-2016

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