Abstract
This paper discusses a serial approach to solve the forward kinematic of a spherical parallel manipulator (SPM). The SPM is used as master device in minimally invasive surgery to control a slave robot. The orientation of the moving platform of the SPM is determined by solving the forward kinematic of one serial leg. The forward model is very simple compared to the classical way of solving the forward model using three sensors placed on the base of the SPM and also it does not suffer from parallel singularities which amplify the classic forward model. The serial way of solving the forward model needs a short calculation time which is suitable for real-time applications.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bai, S., Hansen, M.R., Angeles, J.: A robust forward-displacement analysis of spherical parallel robots. Mech. Mach. Theor. 44, 2204–2216 (2009)
Birglen, L., Gosselin, C., Pouliot, N., Monsarrat, B., Laliberté, T.: Shade, a new 3-dof haptic device. IEEE Trans. Robot. Autom. 18, 166–175 (2002)
Bonev, I.A., Ryu, J., Kim, S.G., Lee, S.K.: A closed-form solution to the direct kinematics of nearly general parallel manipulators with optimally located three linear extra sensors. IEEE Trans. Robot. Autom. 17, 148–156 (2001)
Cavallo, E., Michelini, R.: A robotic equipment for the guidance of a vectored thrustor AUV. In: 35th International Symposium on Robotics ISR 2004. Citeseer (2004)
Celaya, E.: Interval propagation for solving parallel spherical mechanisms. In: Lenarčič, J., Thomas, F. (eds.) Advances in Robot Kinematics, pp. 415–422. Springer, Heidelberg (2002)
Chaker, A., Mlika, A., Laribi, M., Romdhane, L., Zeghloul, S.: Accuracy analysis of non-overconstrained spherical parallel manipulators. Eur. J. Mech. A. Solids 47, 362–372 (2014)
Gosselin, C., Sefrioui, J., Richard, M.J.: On the direct kinematics of spherical three-degree-of-freedom parallel manipulators of general architecture. J. Mech. Des. 116, 594–598 (1994)
Li, T., Payandeh, S.: Design of spherical parallel mechanisms for application to laparoscopic surgery. Robotica 20, 133–138 (2002)
Ma, A., Payandeh, S.: Analysis and experimentation of a 4-DOF haptic device. In: 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. pp. 351–356. IEEE (2008)
Saafi, H., Laribi, M.A., Zeghloul, S.: Forward kinematic model improvement of a spherical parallel manipulator using an extra sensor. Mech. Mach. Theor. 91, 102–119 (2015)
Vertechy, R., Parenti-Castelli, V.: Robust, fast and accurate solution of the direct position analysis of parallel manipulators by using extra-sensors. INTECH Open Access Publisher (2008)
Zubizarreta, A., Marcos, M., Cabanes, I., Pinto, C., Portillo, E.: Redundant sensor based control of the 3RRR parallel robot. Mech. Mach. Theor. 54, 1–17 (2012)
Acknowledgments
This research is supported by the Poitou-Charentes region 2007–2013 (program project 10 Images and interactivities), in partnership with the European Union (FEDER/ERDF, European Regional Development Fund) and ROBOTEX, the French national network of robotics platforms (\(N^{\circ }\) ANR-10-EQPX-44-01).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Vulliez, M., Saafi, H., Zeghloul, S. (2017). A Real-Time Serial Approach for Solving the Forward Kinematic Model of Spherical Parallel Manipulators. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham. https://doi.org/10.1007/978-3-319-49058-8_14
Download citation
DOI: https://doi.org/10.1007/978-3-319-49058-8_14
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-49057-1
Online ISBN: 978-3-319-49058-8
eBook Packages: EngineeringEngineering (R0)