{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,9,20]],"date-time":"2024-09-20T16:38:50Z","timestamp":1726850330995},"reference-count":22,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2020,8,6]],"date-time":"2020-08-06T00:00:00Z","timestamp":1596672000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001665","name":"Agence Nationale de la Recherche","doi-asserted-by":"publisher","award":["ANR-10-EQPX-44"],"id":[{"id":"10.13039\/501100001665","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"This paper deals with a special architecture of Spherical Parallel Manipulators (SPMs) designed to be a haptic device for a medical tele-operation system. This architecture is obtained by replacing the kinematic of one leg of a classical 3-RRR SPM (R for revolute joint). The Forward Kinematic Model (FKM) is particularly addressed to allow the new master device to control the motion of a slave surgical robot. For this purpose, three methods are presented to solve the FKM and compared based on the criterion of time consuming and accuracy. For each method, namely, classic FKM, Improved method and serial FKM, the resolution procedure is detailed and the experimental validation is presented. After comparison, the serial approach involving the use of three sensors located on one leg of the master device is revealed as the most suitable. Experimental validation of the real-time motion control is successfully performed using the serial FKM.<\/jats:p>","DOI":"10.3390\/robotics9030062","type":"journal-article","created":{"date-parts":[[2020,8,6]],"date-time":"2020-08-06T13:41:21Z","timestamp":1596721281000},"page":"62","source":"Crossref","is-referenced-by-count":15,"title":["Forward Kinematic Model Resolution of a Special Spherical Parallel Manipulator: Comparison and Real-Time Validation"],"prefix":"10.3390","volume":"9","author":[{"ORCID":"http:\/\/orcid.org\/0000-0001-8381-4234","authenticated-orcid":false,"given":"Houssem","family":"Saafi","sequence":"first","affiliation":[{"name":"Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse 4000, Tunisia"},{"name":"Preparatory Institute for Engineering Studies of Gafsa, University of Gafsa, Gafsa 2000, Tunisia"}]},{"ORCID":"http:\/\/orcid.org\/0000-0003-0797-7669","authenticated-orcid":false,"given":"Med Amine","family":"Laribi","sequence":"additional","affiliation":[{"name":"Department of GMSC, Prime Institute, CNRS\u2014University of Poitiers, ENSMA\u2014UPR 3346, 86073 Poitiers, France"}]},{"given":"Said","family":"Zeghloul","sequence":"additional","affiliation":[{"name":"Department of GMSC, Prime Institute, CNRS\u2014University of Poitiers, ENSMA\u2014UPR 3346, 86073 Poitiers, France"}]}],"member":"1968","published-online":{"date-parts":[[2020,8,6]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Park, W., Kim, L., Cho, H., and Park, S. 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