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Redundantly actuated 3-RRR spherical parallel manipulator used as a haptic device: improving dexterity and eliminating singularity.
Houssem Saafi
Med Amine Laribi
Saïd Zeghloul
Published in:
Robotica (2015)
Keyphrases
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parallel manipulator
haptic device
degrees of freedom
end effector
force feedback
dynamic model
haptic interaction
three dimensional
virtual environment
virtual reality
robot arm
minimally invasive surgery
visual feedback
vision system
control scheme