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    A Real-Time Serial Approach for Solving the Forward Kinematic Model of Spherical Parallel Manipulators

    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 ori...

    Margot Vulliez, Houssem Saafi, Said Zeghloul in Advances in Robot Design and Intelligent C… (2017)