Abstract
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.
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Chaker, A., Mlika, A., Laribi, M.A., Romdhane, L., Zeghloul, S. (2013). On the Kinematics of Spherical Parallel Manipulators for Real Time Applications. In: Haddar, M., Romdhane, L., Louati, J., Ben Amara, A. (eds) Design and Modeling of Mechanical Systems. Lecture Notes in Mechanical Engineering. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37143-1_7
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DOI: https://doi.org/10.1007/978-3-642-37143-1_7
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-37142-4
Online ISBN: 978-3-642-37143-1
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