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Published in:
2013 | OriginalPaper | Chapter
On the Kinematics of Spherical Parallel Manipulators for Real Time Applications
Authors : Abdelbadia Chaker, Abdelfattah Mlika, Med Amine Laribi, Lotfi Romdhane, Said Zeghloul
Published in: Design and Modeling of Mechanical Systems
Publisher: Springer Berlin Heidelberg
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This paper deals with the computation of the forward and inverse kinematic model of a 3-RRR spherical parallel mechanism (SPM) for a teleoperation solution. The context of real time application is aimed; thus, the determination of the desired solution out of several possibilities, is crucial to guarantee motion continuity. The SPM structure kinematics is then detailed and a strategy, based on Newton Raphson method, is proposed to solve these models. Experimental results are presented to validate the proposed approach.