A real-time serial approach for solving the forward kinematic model of spherical parallel manipulators

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.